| With the increasing number of outdoor sports and the aggravation of the population aging,the cases of ankle joint injury are increasing and the demand for ankle rehabilitation is also growing.Meanwhile,the number of medical staff who can perform ankle rehabilitation is very limited.Based on the advantages of the parallel mechanism,the design and analysis of the ankle rehabilitation mechanism are carried out,which has important theoretical value and practical significance.Based on a detailed analysis of the actual injuries that may occur in the ankle joint,combining the basic parameters of ankle rehabilitation with the physical structure of the ankle joint,sports stress,sprain mechanism and traditional Chinese medicine ankle rehabilitation therapy.The ankle rehabilitation mechanism was selected,and a new2-UPU/RPU parallel ankle rehabilitation mechanism which is suitable for ankle rehabilitation was proposed.For the selected ankle rehabilitation mechanism,the degrees of freedom of the ankle rehabilitation mechanism were analyzed based on the spiral theory and the modified GK formula.The closed-loop vector method was used to solve the inverse kinematics of the mechanism,and based on the vector method,the speed Jacobian matrix of the mechanism and the acceleration of each component are obtained.The corresponding singular position is obtained by analyzing the singular configuration of the mechanism,and its unique characteristic of varying degrees of freedom is used to obtain multiple modes of ankle rehabilitation.Based on the kinematics of the mechanism,the vector method is used to establish the static analysis model of the mechanism.The force of each kinematic pair is analyzed by the lever removal method,and the system of equations is solved under specific loads to obtain the constraint forces of each branch.The static unloading performance of the mechanism is analyzed,and the finite element simulation analysis of the rehabilitation mechanism under different working conditions is performed to verify the correctness of the theoretical model and obtain the optimal design size of the mechanism.Based on the optimized ankle rehabilitation mechanism,the inertia tensor of eachbranch link and moving platform of the mechanism are obtained,the dynamic equation of the mechanism is derived based on Lagrange method,and the dynamic model of the mechanism is established by using ADAMS.The running trajectories under three kinds of rehabilitation working conditions are planned,and the driving force and the constraint force between components under different rehabilitation working conditions are analyzed to obtain the maximum driving force under each working condition. |
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