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Design and kinematic analysis of redundantly actuated parallel mechanisms for ankle rehabilitation

Published online by Cambridge University Press:  03 March 2014

Congzhe Wang ,
Yuefa Fang ,
Sheng Guo  and
Changchun Zhou
Congzhe Wang
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P.R. China
Yuefa Fang*
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P.R. China
Sheng Guo
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P.R. China
Changchun Zhou
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P.R. China
*
*Corresponding author. E-mail: yffang@bjtu.edu.cn
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Summary

In this paper, we present the design of two serial spherical mechanisms to substitute for a single spherical joint that is usually used to connect the platform with the base in three degrees of freedom parallel mechanisms. According to the principle derived from the conceptual design, through using the two serial spherical mechanisms as the constraint limb, several redundantly actuated parallel mechanisms are proposed for ankle rehabilitation. The proposed parallel mechanisms all can perform the rotational movements of the ankle in three directions while at the same time the mechanism center of rotations can match the ankle axes of rotations compared with other multi-degree-of-freedom devices, due to the structural characteristics of the special constraint limb and platform. Two special parallel mechanisms are selected to analyze their kinematical performances, such as workspace, dexterity, singularity, and stiffness, based on the computed Jacobian. The results show that the proposed scheme of actuator redundancy can guarantee that the redundantly actuated parallel mechanisms have no singularity, better dexterity, and stiffness within the prescribed workspace in comparison with the corresponding non-redundant parallel mechanisms. In addition, the proposed mechanisms possess certain reconfigurable capacity based on control strategies or rehabilitation modes to obtain sound performance for completing ankle rehabilitation exercise.

Keywords

Ankle rehabilitationParallel mechanismsActuator redundancySingularityStiffness
Type
Articles
Information
Robotica , Volume 33 , Issue 2 , February 2015 , pp. 366 - 384
Copyright
Copyright © Cambridge University Press 2014 

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