Design and kinematic trajectory planning and simulation analysis of a passive ankle rehabilitation robot based on a 3-PRPS parallel mechanism

摘要

The ankle is an important load-bearing joint in the human body, which often causes neurological and muscular injuries in practical life. A multi degree of freedom ankle rehabilitation robot that conforms to the theory of rehabilitation is of great significance for helping patients recover. In response to the shortcomings of limited degrees of freedom and single motion form in current ankle rehabilitation robots, this paper designs a passive ankle rehabilitation robot based on a 3-PRPS parallel mechanism and establishes a virtual prototype of a 3-PRPS parallel mechanism ankle rehabilitation robot. The Kinematics trajectory planning is carried out according to the constraint conditions of each component and the motion characteristics of the ankle joint in the rehabilitation process. The correctness of Kinematics analytical formula is verified through inverse kinematics simulation analysis.