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为实现踝关节辅助康复,开发了一种基于球销副的仿生踝关节辅助康复装置,该装置具有两个自由度,但能近似实现踝关节的三维运动。在介绍仿生踝关节辅助康复装置结构的基础上,对其进行了运动建模分析。针对结构采用的多种运动驱动模式,对刚柔组合驱动与刚性驱动模式分别进行建模分析,给出了相关计算公式,并采用Matlab软件进行了计算。研究过程为多运动模式的机构分析提供了参考。
In order to achieve the ankle rehabilitation, a bionic ankle-assisted rehabilitation device based on the ball pin pair was developed. The device has two degrees of freedom, but can approximate the three-dimensional movement of the ankle joint. Based on the introduction of the structure of the bionic ankle-assisted rehabilitation device, the motion modeling analysis was carried out. Aiming at the various motion driving modes adopted in the structure, the rigid-flexible combined driving and rigid driving modes are respectively modeled and analyzed. The relevant formulas are given and calculated by Matlab software. The research process provides a reference for institutional analysis of multi-sport mode.