Kinematic Design of a 2-SPS/PU&R 4-DOF Hybrid Robot for Ankle Rehabilitation
A (2-SPS/PU)&R 4-DOF hybrid robot for ankle rehabilitation is presented in this paper. The robot is able to generate three-dimensional rotations and a stretching motion along the lower limb direction for ankle rehabilitation. In the paper, the inverse kinematics of the parallel mechanism is analyzed using closed-loop vector method. The velocity Jacobian matrix of the parallel mechanism is solved. The kinematics of the (2-SPS/PU)&R hybrid mechanism is simulated using ADAMS software. The results show that the mechanism can reach the motion ranges needed for ankle joint rehabilitation.
Keywords(2-SPS/PU)&R Ankle joint Rehabilitation robot Hybrid mechanism Kinematics
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This research was funded by the Key Research and Development Project of Shanxi Province (201803D421027, 201803D421028) and the Foundation of Shanxi Key Laboratory of Advanced Manufacturing Technology (Grant number XJZZ201702).
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