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Design and Analysis of a Flexible, Elastic, and Rope-Driven Parallel Mechanism for Wrist Rehabilitation
Applied Bionics and Biomechanics ( IF 2.2 ) Pub Date : 2020-11-12 , DOI: 10.1155/2020/8841400
Zaixiang Pang 1, 2 , Tongyu Wang 1 , Junzhi Yu 3 , Shuai Liu 2 , Xiyu Zhang 2 , Dawei Jiang 1, 2
Affiliation  

This paper proposes a bionic flexible wrist parallel mechanism to simulate human wrist joints, which is characterized by a rope-driven, compression spring-supported hybrid mechanism. Specifically, to realize the movement of the wrist mechanism, a parallel structure is adopted to support the mobile platform and is controlled by a cable, which plays the role of wrist muscles. Because the compression spring is elastic, it is difficult to directly solve inverse kinematics. To address this problem, the external force acting on the moving platform is firstly equivalent to the vector force and torque at the center of the moving platform. Then, based on inverse kinematic and static analyses, the inverse motion of the robot model can be solved according to the force and torque balance conditions and the lateral spring bending equation of the compression spring. In order to verify the proposed method, kinematics, statics, and parallel mechanism workspace are further analyzed by the software MATLAB. The obtained results demonstrate the effectiveness and feasibility of the designed parallel mechanism. This work offers new insights into the parallel mechanism with flexible joints in replicating the movements of the human wrist, thus promoting the development of rehabilitation robots and rope-driven technology to some extent.

中文翻译:

柔性,弹性和绳索驱动的腕关节康复并联机构的设计与分析

本文提出了一种仿生的柔性腕部并联机构来模拟人的腕关节,其特征是由绳索驱动,压缩弹簧支撑的混合机构。具体地,为了实现腕机构的运动,采用平行结构来支撑移动平台,并由电缆控制,电缆起着腕部肌肉的作用。由于压缩弹簧是弹性的,因此很难直接求解逆运动学。为了解决这个问题,作用在移动平台上的外力首先等于在移动平台中心处的矢量力和转矩。然后,基于反向运动学和静态分析,机器人模型的反向运动可以根据力和转矩平衡条件以及压缩弹簧的侧向弹簧弯曲方程来求解。为了验证所提出的方法,通过MATLAB软件进一步分析了运动学,静力学和并联机构工作空间。获得的结果证明了所设计的并联机构的有效性和可行性。这项工作为复制人腕运动提供了灵活的关节并联机构的新见解,从而在一定程度上促进了康复机器人和绳索驱动技术的发展。获得的结果证明了所设计的并联机构的有效性和可行性。这项工作为复制人腕运动提供了灵活的关节并联机构的新见解,从而在一定程度上促进了康复机器人和绳索驱动技术的发展。获得的结果证明了所设计的并联机构的有效性和可行性。这项工作为复制人腕运动提供了灵活的关节并联机构的新见解,从而在一定程度上促进了康复机器人和绳索驱动技术的发展。
更新日期:2020-11-12
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