CN110434840B - Three-degree-of-freedom generalized spherical parallel mechanism - Google Patents
Three-degree-of-freedom generalized spherical parallel mechanism Download PDFInfo
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- CN110434840B CN110434840B CN201910868664.2A CN201910868664A CN110434840B CN 110434840 B CN110434840 B CN 110434840B CN 201910868664 A CN201910868664 A CN 201910868664A CN 110434840 B CN110434840 B CN 110434840B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 98
- 230000003068 static effect Effects 0.000 claims abstract description 20
- 210000004233 talus Anatomy 0.000 claims description 26
- 210000003423 ankle Anatomy 0.000 claims description 15
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 14
- 210000000459 calcaneus Anatomy 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 9
- 210000002303 tibia Anatomy 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- 238000013461 design Methods 0.000 description 8
- 230000003993 interaction Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 210000002082 fibula Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 210000000450 navicular bone Anatomy 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
The invention relates to a three-degree-of-freedom generalized spherical parallel mechanism, which comprises: a movable platform, a static platform and a branched chain; the parallel mechanism is provided with two misaligned rotary sphere centers, namely a centering sphere center and a movable sphere center, and the whole is regarded as the spherical motion of which the freedom degree is 1 when the movable platform winds the movable sphere center, and the spherical motion of which the freedom degree is 2 when the movable sphere center winds the centering sphere center; the branched chain of the three-degree-of-freedom generalized spherical parallel mechanism has two types, namely: the ABA type branched chain is used for controlling the motion of the braking platform around the centering ball and the ABA type branched chain is used for controlling the motion of the braking platform around the centering ball, two ABA type branched chains are provided, and one ABA type branched chain is provided; all branched chains are composed of an A-shaped connecting rod and a B-shaped connecting rod, wherein the A-shaped connecting rod is a spherical connecting rod, the axial leads of holes at two ends of the A-shaped connecting rod are intersected at one point, the B-shaped connecting rod is a double-spherical connecting rod, the spherical centers of all B-shaped rods are overlapped to form the spherical centers of the parallel mechanism, and the movable spherical centers of all B-shaped rods are overlapped to form the movable spherical center of the parallel mechanism. The mechanism has high flexibility and motion precision.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to a three-degree-of-freedom generalized spherical parallel mechanism which can be applied to rehabilitation training of ankle joints.
Background
With the continuous development of the medical health field and the robot field, more and more health robots enter the field of vision of people. The rehabilitation robot not only can help the patient with joint injury to do rehabilitation exercise, but also can be used for the exercise training of athletes and the joint correction of the old. The existing rehabilitation robot generally has the advantages of high rigidity, high bearing capacity and high flexibility. However, aiming at the complexity of human body joint movement, the fitting precision of a rehabilitation robot is difficult to improve by using the existing mechanism, the man-machine interaction force is eliminated, and the mechanism design of the rehabilitation robot encounters a large bottleneck. Taking an ankle rehabilitation robot as an example, most of the structures are based on a smart eye mechanism (three-degree-of-freedom spherical parallel mechanism), the mechanism is provided with a movable platform, a static platform and three branched chains, each linear chain is provided with two spherical connecting rods and three revolute pairs, the rotation center shafts of all revolute pairs of the mechanism intersect with one point of space, the ankle joint of a human body is equivalent to a standard spherical pair, the ankle joint of the human body is one of the most complex joints of the human body, and the ankle joint comprises tibia, fibula, talus, navicular bone, calcaneus and the like, and if the ankle joint is simply simplified to be the standard spherical pair, larger man-machine interaction force can be generated. To solve such problems, it would be very interesting to propose a new mechanism that can adequately fit the ankle motion.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a three-degree-of-freedom generalized spherical parallel mechanism, which provides a basic theoretical basis for the design of a novel ankle rehabilitation robot. The mechanism has enough flexibility and motion precision, and has the advantages of simplicity, flexibility, changeability, strong adaptability and the like.
The technical scheme for solving the technical problems is that the invention provides a three-degree-of-freedom generalized spherical parallel mechanism, which comprises the following components: a movable platform, a static platform and a branched chain; it is characterized in that the method comprises the steps of,
the parallel mechanism is provided with two misaligned rotary sphere centers, namely a centering sphere center and a movable sphere center, the distance between the two sphere centers is an adjustable fixed value, and the whole mechanism is regarded as spherical motion with the freedom degree of 1 by the movable platform around the movable sphere center, and the movable sphere center is spherical motion with the freedom degree of 2 around the centering sphere center; the branched chain of the three-degree-of-freedom generalized spherical parallel mechanism has two types, namely: the ABA type branched chain is used for controlling the motion of the braking platform around the centering ball and the ABA type branched chain is used for controlling the motion of the braking platform around the centering ball, two ABA type branched chains are provided, and one ABA type branched chain is provided; all branched chains are composed of an A-shaped connecting rod and a B-shaped connecting rod, wherein the A-shaped connecting rod is a spherical connecting rod, the axial leads of two end holes of the A-shaped connecting rod intersect at one point, the B-shaped connecting rod is a generalized spherical connecting rod, and is regarded as a double-spherical-center spherical connecting rod, namely the B-shaped connecting rod is provided with two generalized spherical centers, namely the B-rod centering spherical center and the B-rod moving spherical center are respectively defined, a line segment formed by connecting the two generalized spherical centers of the B-shaped connecting rod is a double-center line segment, the length of the double-center line segment is a double-center distance, the double-center distances of all the B-shaped connecting rods in the same parallel mechanism are equal, the double-center line segments of all the B-shaped connecting rods in the motion process are always completely coincident, namely the centering spherical centers of all the B-rods are coincident to form the centering spherical centers of the parallel mechanism, and the moving spherical centers of all the B-rods are coincident to form the moving spherical centers of the parallel mechanism.
In the ankle rehabilitation robot component size design based on the parallel mechanism, the average relative rotation spherical center between the tibia and the talus of a patient and the average relative rotation spherical center between the talus and the calcaneus of the patient are determined according to the parameter of the talus of the patient, the distance parameter between the two rotation spherical centers is calculated, and the double center distance of the parallel mechanism is determined according to the distance parameter, so that the relative motion between the movable platform and the static platform of the parallel mechanism is fully fitted with the motion of the ankle of a human body in the motion fitting process, namely, the movable spherical center of the parallel mechanism always coincides with the average relative rotation spherical center of the talus and the calcaneus, and the centering spherical center of the parallel mechanism always coincides with the average relative rotation spherical center of the tibia and the talus. Compared with the traditional three-degree-of-freedom parallel mechanism (smart eye mechanism), the generalized parallel mechanism has more accurate and reasonable fitting to ankle joint movement, and the fitting effect is remarkably improved.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a generalized spherical parallel mechanism configuration for the first time, provides a branched chain type of a generalized parallel spherical mechanism, provides a construction method of a B connecting rod and a connection mode of the branched chain and a movable platform and a static platform, wherein the mechanism is provided with two rotating spherical centers, one is a fixed spherical center, the other is a movable spherical center, the movable spherical center rotates in two degrees of freedom relative to the fixed spherical center, and the movable platform rotates in one degree of freedom around the movable spherical center. The mechanism has the characteristics of strong bearing capacity, high movement flexibility and the like of the parallel mechanism, and can fit the movement of part of the series mechanism.
The three-degree-of-freedom generalized spherical parallel mechanism can be applied to the design of the human ankle rehabilitation robot, and not only accords with the motion rule of the human ankle, but also has the advantages of high flexibility, more accurate and reasonable fitting, lower manufacturing cost, simple structure and convenient control. Compared with the traditional three-degree-of-freedom parallel mechanism, the mechanism provided by the invention greatly weakens man-machine interaction force generated by the human ankle talus in the fitting process, solves the problem of poor motion interaction performance of the ankle fitted by the traditional three-degree-of-freedom parallel mechanism in mechanism configuration, and has the advantages of stronger adaptability, simple structure and low cost.
Compared with the existing seat-type exoskeleton and the spring-assisted supporting exoskeleton, the invention has stronger adaptability, the degree of freedom of each joint is more in line with the reality of a human body, and the invention can support the stable support of the lower limbs of the human body under any complex postures. Compared with the existing driving exoskeleton, the driving exoskeleton has the advantages of low cost, low weight, low energy consumption, beneficial operation and the like, is convenient to carry, and can support the driving exoskeleton to work under other complex working conditions such as outdoors.
The invention has the advantages of convenient use, simple operation, flexible movement, strong load bearing capacity, safety and reliability and suitability for various crowds.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
In the figure, a first branched chain is 1; 11. a first branched chain and a first connecting rod; 12. a first branched chain second connecting rod; 13. a first branched chain connecting rod III; 14. a first shaft of a first branched chain; 15. a first branched chain and a second shaft; 16. a first branched chain and a third shaft; 17. a first branched chain and a fourth shaft; 2. a second branched chain; 21. a second branched chain first connecting rod; 22. a second branched chain second connecting rod; 23. a second branched chain third connecting rod; 24. a first shaft of a second branched chain; 25. a second shaft of a second branched chain; 26. a second branched chain is a third shaft; 27. a second branched chain is a fourth shaft; 3. a third branch; 31. a third branched chain first connecting rod; 32. a third branched chain connecting rod II; 33. a third branched chain third connecting rod; 34. a third branched chain fourth connecting rod; 35. a first shaft of a third branched chain; 36. a third branched chain second shaft; 37. a third shaft of a third branched chain; 38. a third branched chain and a fourth shaft; 39. a third branched chain fifth shaft; 4. a static platform; 5. a movable platform;
Detailed Description
Specific examples of the present invention are given below. The specific examples are only for further detailed description of the present invention and do not limit the scope of the present application.
The invention relates to a three-degree-of-freedom generalized spherical parallel mechanism, which comprises: a movable platform, a static platform and a branched chain; the three-degree-of-freedom generalized spherical parallel mechanism is provided with two misaligned rotary spherical centers, namely a fixed spherical center and a movable spherical center, the distance between the two spherical centers is an adjustable fixed value, and the whole is regarded as the spherical motion of which the freedom degree is 1 when the movable platform winds the movable spherical center, and the freedom degree is 2 when the movable spherical center winds the fixed spherical center, so that the three-degree-of-freedom generalized spherical parallel mechanism is provided with 3 degrees of freedom and can be fully adapted and matched with the freedom degree of an ankle joint; the branched chain of the three-degree-of-freedom generalized spherical parallel mechanism has two types, namely: the ABAA branched chain and the ABA branched chain, wherein the two ABA branched chains mainly control the movement of the moving sphere center around the centering sphere center, and the one ABA branched chain mainly controls the movement of the moving platform around the moving sphere center; all branched chains of the three-degree-of-freedom generalized spherical parallel mechanism are composed of an A-shaped connecting rod and a B-shaped connecting rod, wherein the A-shaped connecting rod is a spherical connecting rod, the axial leads of two end holes of the A-shaped connecting rod are intersected at one point, the B-shaped connecting rod is a generalized spherical connecting rod, the B-shaped connecting rod can be seen to be a double-sphere-center spherical connecting rod in the generalized parallel mechanism, namely the B-shaped connecting rod is provided with two generalized sphere centers, namely the B-rod sphere centers are respectively the B-rod sphere centers and the B-rod movable sphere centers, the axial leads of the two end holes of the B-shaped connecting rod are not necessarily intersected in space, the line segment formed by connecting the two generalized sphere centers of the B-shaped connecting rod is defined as a double-center line segment, the length of the double-center line segment is the double-center distance, the parallel mechanism requires that the double-center-distance of all the B-shaped connecting rods in the same parallel mechanism are necessarily equal, the double-center-line segments of all the B-shaped connecting rods in the motion process are always completely coincident, namely all the B-rod sphere centers are coincident to form the sphere centers, and all the B-rod sphere centers are coincident, and all the sphere centers are coincident to form the movable sphere centers.
In the ankle rehabilitation robot component size design based on the parallel mechanism, according to the parameter of the patient talus, the average relative rotation spherical center between the tibia and the talus of the patient and the average relative rotation spherical center between the talus and the calcaneus of the patient can be determined, the distance parameter between the two spherical centers can be calculated, and the double-center distance of the generalized parallel mechanism can be determined according to the parameter, so that the relative motion between the moving platform and the static platform of the mechanism and the motion of the ankle of a human body are fully fitted in the motion fitting process, namely, the moving spherical center of the mechanism always coincides with the average relative rotation spherical center of the talus and the calcaneus, and the centering spherical center of the mechanism always coincides with the average relative rotation spherical center of the tibia and the talus.
The equivalent model with more reasonable motion of the human ankle joint is as follows: the mating connection between the lower tibial surface and the upper talus surface is considered as a spherical pair, the mating connection between the lower talus surface and the upper calcaneus surface is considered as a spherical pair, and the distance between the centers of the two spherical pairs is a constant determined by the relevant dimensional parameters of the talus of the user. On the basis of the equivalent model, a three-degree-of-freedom generalized spherical parallel mechanism configuration is provided for better fitting the motion of the human ankle joint, so that the problem of poor man-machine interaction of the ankle joint rehabilitation robot which is difficult to solve by the traditional spherical connecting rod mechanism can be effectively solved, and an important theoretical basis is provided for the design scheme of the novel ankle joint rehabilitation robot.
When the mechanism is applied to the design of an ankle rehabilitation robot, the freedom degree and the movement space of human ankle movement are fully met, the instantaneous movement between the ankle talus and the calcaneus is fully fitted, namely the movement between the tibia and the talus and the movement between the talus and the calcaneus are simultaneously fitted, and the man-machine interaction force caused by the ankle talus, which is difficult to be eliminated by the traditional spherical mechanism, is fully eliminated.
The three-degree-of-freedom generalized spherical parallel mechanism configuration can be used in the ankle joint, the precision surgery, the precision maintenance and other fields. The distance between two centers (the centering center and the moving center) is an adjustable fixed value, which means that the distance size can be arbitrarily selected in the mechanism configuration design process and is not limited by the sizes of other components, but cannot be changed once the size is determined to be completely manufactured. The dimensions of the type a links given in the configuration are not all the same nor are the dimensions of the type B links necessarily all the same, but the "double pitch" of all the type B links must be equal.
Example 1
The three-degree-of-freedom generalized spherical parallel mechanism (see figure 1) of the embodiment is composed of a static platform 4, a dynamic platform 5, two ABA branched chains (a first branched chain 1 and a second branched chain 2) and an ABAA type closed-loop branched chain (a third branched chain 3); the static platform 4 is a spherical connecting rod with three revolute pairs, namely the axial lead spaces of three side end through holes are converged at one point; the movable platform 5 is a spherical connecting rod with three revolute pairs, namely, the axial lead spaces of three side end through holes are converged at one point. The first branched chain 1 is an ABA branched chain, wherein a first branched chain connecting rod 11 is an A-shaped connecting rod, a second branched chain connecting rod 12 is a B-shaped connecting rod, and a third branched chain connecting rod 13 is an A-shaped connecting rod; the first chain hole of the movable platform 5 is connected and matched with the upper end hole of the first branched chain third connecting rod 13 through a first branched chain fourth shaft 17 to form a revolute pair; the lower end hole of the first branched chain third connecting rod 13 is connected and matched with the upper end hole of the first branched chain second connecting rod 12 through a first branched chain third shaft 16 to form a revolute pair; the lower end hole of the first branched chain second connecting rod 12 is connected and matched with the upper end hole of the first branched chain first connecting rod 11 through a first branched chain second shaft 15 to form a revolute pair; the lower end hole of the first branched chain first connecting rod 11 is connected and matched with the first branched chain hole of the static platform 4 through a first branched chain first shaft 14 to form a revolute pair;
the second branched chain 2 is an ABA branched chain, wherein the first connecting rod 21 of the second branched chain is an A-shaped connecting rod; the second branched chain second connecting rod 22 is a B-type connecting rod; the second branched chain third connecting rod 23 is an A-type connecting rod; the second branch chain hole of the movable platform 5 is connected and matched with the upper end hole of the second branch chain third connecting rod 23 through a second branch chain fourth shaft 27 to form a revolute pair; the lower end hole of the second branched chain third connecting rod 23 is connected and matched with the upper end hole of the second branched chain second connecting rod 22 through a second branched chain third shaft 26 to form a revolute pair; the lower end hole of the second connecting rod 22 of the second branched chain is connected and matched with the upper end hole of the first connecting rod 21 of the second branched chain through a second shaft 25 of the second branched chain to form a revolute pair; the lower end hole of the first connecting rod 21 of the second branched chain is connected and matched with the second branched chain hole of the static platform 4 through a first shaft 24 of the second branched chain to form a revolute pair;
the third branched chain 3 is an ABAA branched chain, wherein a first connecting rod 31 of the third branched chain is an A-shaped connecting rod; the third branched chain second connecting rod 32 is an A-type connecting rod; the third branched chain third connecting rod 33 is a B-type connecting rod; the third branched chain fourth connecting rod 34 is an A-type connecting rod; the third branch chain hole of the movable platform 5 is connected and matched with the upper end hole of the third branch chain fourth connecting rod 34 through a third branch chain fifth shaft 39 to form a revolute pair; the lower end hole of the third branched-chain fourth connecting rod 34 is connected and matched with the upper end hole of the third branched-chain third connecting rod 33 through a third branched-chain fourth shaft 38 to form a revolute pair; the lower end hole of the third branched chain third connecting rod 33 is connected and matched with the upper end hole of the third branched chain second connecting rod 32 through a third branched chain third shaft 37 to form a revolute pair; the lower end hole of the third branched chain second connecting rod 32 is connected and matched with the upper end hole of the third branched chain first connecting rod 31 through a third branched chain second shaft 36 to form a revolute pair; the lower end hole of the third branched chain first connecting rod 31 is connected and matched with the third branched chain hole of the static platform 4 through a third branched chain first shaft 35 to form a revolute pair;
the axial lead spaces of the first shaft 14 of the first branched chain, the second shaft 15 of the first branched chain, the first shaft 24 of the second branched chain, the second shaft 25 of the second branched chain, the first shaft 35 of the third branched chain, the second shaft 36 of the third branched chain and the third shaft 37 of the third branched chain are converged at one point, and the point is the spherical center of the three-degree-of-freedom generalized spherical parallel mechanism; the axes of the first branched chain No. three shaft 16, the first branched chain No. four shaft 17, the second branched chain No. three shaft 26, the second branched chain No. four shaft 27, the third branched chain No. four shaft 38 and the third branched chain No. five shaft 39 are spatially converged at one point, and the point is the movable spherical center of the three-degree-of-freedom generalized spherical parallel mechanism.
The working principle of the three-degree-of-freedom generalized spherical parallel mechanism is as follows:
the first branched chain first connecting rod 11, the second branched chain first connecting rod 21 and the third branched chain first connecting rod 31 are used as three driving parts of the three-degree-of-freedom generalized spherical parallel mechanism, and three rotation angles of the three driving parts relative to the static platform 4 are input quantities of the mechanism, namely, a moving platform of the mechanism has three spatial degrees of freedom (the moving spherical center moves around a centered two-degree-of-freedom spherical surface and the moving platform moves around a single-degree-of-freedom spherical surface of the moving spherical center); the first branched chain first connecting rod 11 and the second branched chain first connecting rod 21 respectively drive the first branched chain second connecting rod 12 and the second branched chain second connecting rod 22, and the static platform 4, the first branched chain first connecting rod 11 and the second branched chain first connecting rod 21 are all A-type spherical connecting rods, so that the 'B rod centering' of the first branched chain second connecting rod 12 and the second branched chain second connecting rod 22 is limited to coincide with one point; because the double center distances of all the B-shaped connecting rods of the generalized spherical parallel connecting rod mechanism are equal, and the movable platform 5, the second branched chain third connecting rod 23 and the third branched chain third connecting rod 33 are all A-shaped spherical connecting rods, the superposition of the ' B-rod movable centers of the first branched chain second connecting rod 12 and the second branched chain second connecting rod 22 of the B-shaped connecting rods on one point is limited, and at the moment, the movement between the first branched chain second connecting rod 12 and the second branched chain second connecting rod 22 is the relative rotation around the superposed ' double center line section '; at this time, a spherical five-rod mechanism is formed among the static platform 4, the first branched chain connecting rod 11, the first branched chain connecting rod 12, the second branched chain connecting rod 22 and the first branched chain connecting rod 21, and the degree of freedom of the spherical five-rod mechanism is 2, namely the input angle of the first branched chain connecting rod 11 and the second branched chain connecting rod 21 determines the space position of a moving sphere center of the three-degree-of-freedom generalized spherical parallel mechanism, and meanwhile, the moving sphere center has 2 degrees of freedom; the first connecting rod 31 and the second connecting rod 32 of the third branch are both A-shaped spherical connecting rods, so that the ball center of the B rod of the third connecting rod 33 of the third branch of the B-shaped connecting rod is limited to coincide with the ball centers of the B rods of the second connecting rod 12 and the second connecting rod 22 of the first branch; the third branched chain No. four connecting rod 34, the first branched chain No. three connecting rod 13, the second branched chain No. three connecting rod 23 and the movable platform 5 are all A-shaped spherical connecting rods, and the 'B-rod movable spherical centers' of the B-shaped branched chain No. three connecting rod 33 are limited to coincide with the 'B-rod movable spherical centers' of the first branched chain No. two connecting rod 12 and the second branched chain No. two connecting rod 22; the spatial movement of the third branched link 33 is a rotation about the "double centerline segment"; if the input of the first branched chain connecting rod 11 of the first driving element and the first branched chain connecting rod 21 of the second branched chain is given, the space pose of the double-core line segment of the generalized spherical parallel mechanism is fixed; at this time, the static platform 4, the first connecting rod 31 of the third branched chain, the second connecting rod 32 of the third branched chain and the third connecting rod 33 form a spherical four-bar mechanism, and the four-bar mechanism has 1 degree of freedom, namely the first connecting rod 31 of the third branched chain drives the third connecting rod 33 of the third branched chain to rotate around the overlapped double-heart line segment through the second connecting rod 32 of the third branched chain; the third-branch third connecting rod 33 drives the movable platform 5 to do spherical motion around the 'movable sphere center' under the limitation of the first-branch third connecting rod 13 and the second-branch third connecting rod 23 of the A-type connecting rod through the third-branch fourth connecting rod 34.
In summary, the rotational angle input of the first branched chain first connecting rod 11 and the second branched chain first connecting rod 21 of the driving element controls the spherical movement of the 'moving sphere center' around the 'centering sphere', and the mechanism has two degrees of freedom, and when the mechanism is used in the design of a human ankle rehabilitation robot, the mechanism mainly fits the relative movement between the tibia and the talus of the ankle of a user; the rotation angle input of the third branched chain first connecting rod 31 controls the spherical motion of the movable platform 5 around the 'movable sphere center', has 1 degree of freedom and mainly fits the relative motion between the ankle talus and calcaneus of a user; the mechanism has 3 degrees of freedom as a whole, so that the generalized spherical parallel mechanism can more accurately fit ankle joint movement relative to the spherical parallel mechanism, and man-machine interaction force caused by mechanism configuration is greatly reduced.
In this embodiment, the position of the hole where the movable platform is matched with the connecting rod can be regarded as an oblique hole, and the axial spaces of the three holes intersect at one point, as shown in fig. 1. The static platform is the same. The position of the opening on the mechanism connecting rod is in a convergence relation with the sizes of all the components to meet the axes of all the rotating pairs.
The invention is applicable to the prior art where it is not described.
Claims (2)
1. A three degree of freedom generalized spherical parallel mechanism comprising: a movable platform, a static platform and a branched chain; it is characterized in that the method comprises the steps of,
the parallel mechanism is provided with two misaligned rotary sphere centers, namely a centering sphere center and a movable sphere center, the distance between the two sphere centers is an adjustable fixed value, and the whole mechanism is regarded as spherical motion with the freedom degree of 1 by the movable platform around the movable sphere center, and the movable sphere center is spherical motion with the freedom degree of 2 around the centering sphere center; the branched chain of the three-degree-of-freedom generalized spherical parallel mechanism has two types, namely: the ABA type branched chain is used for controlling the motion of the braking platform around the centering ball and the ABA type branched chain is used for controlling the motion of the braking platform around the centering ball, two ABA type branched chains are provided, and one ABA type branched chain is provided; all branched chains are composed of an A-shaped connecting rod and a B-shaped connecting rod, wherein the A-shaped connecting rod is a spherical connecting rod, the axes of two end holes of the A-shaped connecting rod are intersected at one point, the B-shaped connecting rod is regarded as a double-sphere-center spherical connecting rod in a generalized parallel mechanism, namely the B-shaped connecting rod is provided with two generalized sphere centers, namely the B-rod centering sphere center and the B-rod moving sphere center are respectively defined, a line segment formed by connecting the two generalized sphere centers of the B-shaped connecting rod is a double-center line segment, the length of the double-center line segment is a double-center distance, the double-center distances of all the B-shaped connecting rods in the same parallel mechanism are equal, the double-center line segments of all the B-shaped connecting rods in the motion process are completely coincident all the time, namely the B-rod centering sphere centers are coincident to form the centering sphere center of the parallel mechanism, and all the B-rod moving sphere centers are coincident to form the moving sphere center of the parallel mechanism.
2. The application of the parallel mechanism in the ankle rehabilitation robot, which is characterized in that the average relative rotation spherical center between the tibia and the talus of a patient and the average relative rotation spherical center between the talus and the calcaneus of the patient are determined according to the parameter of the talus of the patient, the distance parameter between the two rotation spherical centers is calculated, the double-center distance of the parallel mechanism is determined according to the distance parameter, and the relative motion between the movable platform and the static platform of the parallel mechanism is fully fitted with the motion of the ankle joint of a human body in the motion fitting process, namely the movable spherical center of the parallel mechanism always coincides with the average relative rotation spherical center of the talus and the calcaneus, and the centering spherical center of the parallel mechanism always coincides with the average relative rotation spherical center of the tibia and the talus.
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