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• W3195598549 abstract "In the previous rehabilitation robot research, the proposed ankle models for rehabilitation robot design have distinctions with the ankle bone structure. It leads to the unsatisfactory human-machine compatibility of the robots constructed based on the fitting onto the motion of these models. For this problem, 6 motion fitting models having higher similarities with ankle bone structure are proposed. For constructing a generalized spherical parallel mechanism (GSPM) with the same kinematic characteristics with these models, a module combination configuration synthesis method is presented. This method establishes the GSPM with partially decoupled characteristics by combining position and orientation modules. Firstly, this method constructs basic limbs/groups of 2 modules based on enumeration and screw theory. Secondly, a class of compact equivalent limbs and groups are constructed by equivalent replacement method based on basic limbs and groups. Thirdly, with the equivalent group being an example, the kinematics of 2 modules are analyzed based on the D-H method and their geometric characteristics, a module combination kinematic analysis method is summarized. Finally, 6 suitable GSPMs are established based on these methods." @default.
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• W3195598549 date "2021-12-01" @default.
• W3195598549 modified "2023-10-06" @default.
• W3195598549 title "Module combination based configuration synthesis and kinematic analysis of generalized spherical parallel mechanism for ankle rehabilitation" @default.
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• W3195598549 doi "https://doi.org/10.1016/j.mechmachtheory.2021.104436" @default.
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