Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom
Abstract The current parallel ankle rehabilitation robot (ARR) suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation, which may lead to secondary injuries to the patient. This study investigates type synthesis of a parallel self-alignment ankle rehabil...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2024-03-01
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| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s10033-024-00996-9 |
| _version_ | 1797266885726699520 |
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| author | Ya Liu Wenjuan Lu Dabao Fan Weijian Tan Bo Hu Daxing Zeng |
| author_facet | Ya Liu Wenjuan Lu Dabao Fan Weijian Tan Bo Hu Daxing Zeng |
| author_sort | Ya Liu |
| collection | DOAJ |
| description | Abstract The current parallel ankle rehabilitation robot (ARR) suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation, which may lead to secondary injuries to the patient. This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot (PSAARR) based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing "suitable passive degrees of freedom (DOF)" with a suitable number and form. First, the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain (HRCC) formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of "decoupled" and "less limb". Second, the relationship between the self-alignment principle and actuation wrenches (twists) of PSAARR was analyzed with the velocity Jacobian matrix as a "bridge". Subsequently, the type synthesis conditions of PSAARR were proposed. Third, a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted. Finally, an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR. In this study, 93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis, which provides a theoretical basis for the design of such an ARR. |
| first_indexed | 2024-04-25T01:07:48Z |
| format | Article |
| id | doaj.art-11054245cf16445ba8f7ad43c448fa65 |
| institution | Directory Open Access Journal |
| issn | 2192-8258 |
| language | English |
| last_indexed | 2024-04-25T01:07:48Z |
| publishDate | 2024-03-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj.art-11054245cf16445ba8f7ad43c448fa652024-03-10T12:07:36ZengSpringerOpenChinese Journal of Mechanical Engineering2192-82582024-03-0137111610.1186/s10033-024-00996-9Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of FreedomYa Liu0Wenjuan Lu1Dabao Fan2Weijian Tan3Bo Hu4Daxing Zeng5School of Mechanical Engineering, Yanshan UniversitySchool of Mechanical Engineering, Dongguan University of TechnologySchool of Mechanical Engineering, Dongguan University of TechnologySchool of Mechanical Engineering, Dongguan University of TechnologySchool of Mechanical Engineering, Yanshan UniversitySchool of Mechanical Engineering, Dongguan University of TechnologyAbstract The current parallel ankle rehabilitation robot (ARR) suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation, which may lead to secondary injuries to the patient. This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot (PSAARR) based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing "suitable passive degrees of freedom (DOF)" with a suitable number and form. First, the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain (HRCC) formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of "decoupled" and "less limb". Second, the relationship between the self-alignment principle and actuation wrenches (twists) of PSAARR was analyzed with the velocity Jacobian matrix as a "bridge". Subsequently, the type synthesis conditions of PSAARR were proposed. Third, a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted. Finally, an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR. In this study, 93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis, which provides a theoretical basis for the design of such an ARR.https://doi.org/10.1186/s10033-024-00996-9Ankle rehabilitation robotSelf-alignmentParallel mechanismType synthesisScrew theory |
| spellingShingle | Ya Liu Wenjuan Lu Dabao Fan Weijian Tan Bo Hu Daxing Zeng Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom Chinese Journal of Mechanical Engineering Ankle rehabilitation robot Self-alignment Parallel mechanism Type synthesis Screw theory |
| title | Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom |
| title_full | Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom |
| title_fullStr | Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom |
| title_full_unstemmed | Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom |
| title_short | Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom |
| title_sort | type synthesis of self alignment parallel ankle rehabilitation robot with suitable passive degrees of freedom |
| topic | Ankle rehabilitation robot Self-alignment Parallel mechanism Type synthesis Screw theory |
| url | https://doi.org/10.1186/s10033-024-00996-9 |
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