3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis
By analyzing the structural characteristics of the ankle joint， and aiming at the status of the existing ankle joint rehabilitation mechanism， a 3-UPS/S parallel rehabilitation mechanism is proposed. The mechanism has three degrees of freedom rotational function， which can complete the training of t...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.05.025 |
| _version_ | 1797819018051059712 |
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| author | Jianzhong Zhang Guanghao Zhang Huazeng Hu Feng Li |
| author_facet | Jianzhong Zhang Guanghao Zhang Huazeng Hu Feng Li |
| author_sort | Jianzhong Zhang |
| collection | DOAJ |
| description | By analyzing the structural characteristics of the ankle joint， and aiming at the status of the existing ankle joint rehabilitation mechanism， a 3-UPS/S parallel rehabilitation mechanism is proposed. The mechanism has three degrees of freedom rotational function， which can complete the training of three modes of ankle joint extension/toe flexion， varus/valgus， internal rotation/external rotation respectively. Firstly， the degree of freedom is analyzed by using the spiral theory. The inverse solution equation of the mechanism position is established by using the D-H method. The theoretical value of the position inverse solution is calculated by using Matlab programming， and the position reverse solution simulation analysis is carried out by using ADAMS to verify the correctness of the inverse solution of the D-H method. |
| first_indexed | 2024-03-13T09:17:45Z |
| format | Article |
| id | doaj.art-f78d4f0b443945c6bebe76e24df7bba5 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:17:45Z |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-f78d4f0b443945c6bebe76e24df7bba52023-05-26T09:54:05ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-0143130133306455843-UPS/S Ankle Joint Rehabilitation Mechanism and Motion AnalysisJianzhong ZhangGuanghao ZhangHuazeng HuFeng LiBy analyzing the structural characteristics of the ankle joint， and aiming at the status of the existing ankle joint rehabilitation mechanism， a 3-UPS/S parallel rehabilitation mechanism is proposed. The mechanism has three degrees of freedom rotational function， which can complete the training of three modes of ankle joint extension/toe flexion， varus/valgus， internal rotation/external rotation respectively. Firstly， the degree of freedom is analyzed by using the spiral theory. The inverse solution equation of the mechanism position is established by using the D-H method. The theoretical value of the position inverse solution is calculated by using Matlab programming， and the position reverse solution simulation analysis is carried out by using ADAMS to verify the correctness of the inverse solution of the D-H method.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.05.025Rehabilitation mechanism;Kinematics;Ankle joint |
| spellingShingle | Jianzhong Zhang Guanghao Zhang Huazeng Hu Feng Li 3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis Jixie chuandong Rehabilitation mechanism;Kinematics;Ankle joint |
| title | 3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis |
| title_full | 3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis |
| title_fullStr | 3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis |
| title_full_unstemmed | 3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis |
| title_short | 3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis |
| title_sort | 3 ups s ankle joint rehabilitation mechanism and motion analysis |
| topic | Rehabilitation mechanism;Kinematics;Ankle joint |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.05.025 |
| work_keys_str_mv | AT jianzhongzhang 3upssanklejointrehabilitationmechanismandmotionanalysis AT guanghaozhang 3upssanklejointrehabilitationmechanismandmotionanalysis AT huazenghu 3upssanklejointrehabilitationmechanismandmotionanalysis AT fengli 3upssanklejointrehabilitationmechanismandmotionanalysis |