2-UPS/RRR parallel mechanism position inverse solution and reachable workspace analysis
ObjectiveA 2-UPS/RRR parallel mechanism was created for the rehabilitation of the ankle.MethodsThe mechanism’s three-dimensional model was created using SolidWorks software, and a moveable platform with an adjustable center of rotation was designed in accordance with various ankle rotation centers o...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | Chinese |
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Editorial Office of Journal of Mechanical Transmission
2025-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.07.004 |
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| _version_ | 1839630914199486464 |
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| author | LI Chang WANG Youqiang ZHENG Yi WANG Feiyang WANG Dengze |
| author_facet | LI Chang WANG Youqiang ZHENG Yi WANG Feiyang WANG Dengze |
| author_sort | LI Chang |
| collection | DOAJ |
| description | ObjectiveA 2-UPS/RRR parallel mechanism was created for the rehabilitation of the ankle.MethodsThe mechanism’s three-dimensional model was created using SolidWorks software, and a moveable platform with an adjustable center of rotation was designed in accordance with various ankle rotation centers of different patients; the degree of freedom of the mechanism was calculated and analyzed using the helix theory, and the results were verified by using the Kutzbach-Grübler formula; the inverse solution equation for the mechanism’s position and the polynomial equation were derived; the results were jointly simulated and verified using Matlab and Adams simulation software; the workspace of the parallel mechanism was solved using the limit search method.ResultsThe results indicate that the mechanism can meet the rehabilitation training requirements of the human ankle joint. The research can provide reference for the subsequent physical prototype manufacturing. |
| format | Article |
| id | doaj-art-60727436a31246768378edfd7b20e602 |
| institution | Matheson Library |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2025-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-60727436a31246768378edfd7b20e6022025-07-12T19:00:02ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392025-07-014931381157348152-UPS/RRR parallel mechanism position inverse solution and reachable workspace analysisLI ChangWANG YouqiangZHENG YiWANG FeiyangWANG DengzeObjectiveA 2-UPS/RRR parallel mechanism was created for the rehabilitation of the ankle.MethodsThe mechanism’s three-dimensional model was created using SolidWorks software, and a moveable platform with an adjustable center of rotation was designed in accordance with various ankle rotation centers of different patients; the degree of freedom of the mechanism was calculated and analyzed using the helix theory, and the results were verified by using the Kutzbach-Grübler formula; the inverse solution equation for the mechanism’s position and the polynomial equation were derived; the results were jointly simulated and verified using Matlab and Adams simulation software; the workspace of the parallel mechanism was solved using the limit search method.ResultsThe results indicate that the mechanism can meet the rehabilitation training requirements of the human ankle joint. The research can provide reference for the subsequent physical prototype manufacturing.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.07.004Ankle rehabilitationParallel mechanismDegree of freedomPosition inverse solution |
| spellingShingle | LI Chang WANG Youqiang ZHENG Yi WANG Feiyang WANG Dengze 2-UPS/RRR parallel mechanism position inverse solution and reachable workspace analysis Jixie chuandong Ankle rehabilitation Parallel mechanism Degree of freedom Position inverse solution |
| title | 2-UPS/RRR parallel mechanism position inverse solution and reachable workspace analysis |
| title_full | 2-UPS/RRR parallel mechanism position inverse solution and reachable workspace analysis |
| title_fullStr | 2-UPS/RRR parallel mechanism position inverse solution and reachable workspace analysis |
| title_full_unstemmed | 2-UPS/RRR parallel mechanism position inverse solution and reachable workspace analysis |
| title_short | 2-UPS/RRR parallel mechanism position inverse solution and reachable workspace analysis |
| title_sort | 2 ups rrr parallel mechanism position inverse solution and reachable workspace analysis |
| topic | Ankle rehabilitation Parallel mechanism Degree of freedom Position inverse solution |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.07.004 |
| work_keys_str_mv | AT lichang 2upsrrrparallelmechanismpositioninversesolutionandreachableworkspaceanalysis AT wangyouqiang 2upsrrrparallelmechanismpositioninversesolutionandreachableworkspaceanalysis AT zhengyi 2upsrrrparallelmechanismpositioninversesolutionandreachableworkspaceanalysis AT wangfeiyang 2upsrrrparallelmechanismpositioninversesolutionandreachableworkspaceanalysis AT wangdengze 2upsrrrparallelmechanismpositioninversesolutionandreachableworkspaceanalysis |