Simulation of 3-SPS/S Parallel Manipulator Control System for Ankle Rehabilitation

被引：1

作者：

Wang H.-F. ^{[1
]}

Li X.-Q. ^{[1
]}

Qiao X.-Y. ^{[1
]}

Qi C.-F. ^{[1
]}

机构：

[1] School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao

来源：

Dongbei Daxue Xuebao/Journal of Northeastern University | 2019年 / 40卷 / 03期

关键词：

Ankle; Control system; Parallel manipulator; Rehabilitation; SimMechanics; Simulation;

D O I：

10.12068/j.issn.1005-3026.2019.03.002

中图分类号：

学科分类号：

摘要：

The ankle is one of vulnerable parts of the low limb joints of the human body. Based on its structural characteristics, a 3-SPS/S parallel manipulator for ankle rehabilitation is built, and the inverse kinematics is solved by its dimensional characteristics. Then, the simulation platform of 3-SPS/S parallel manipulator for ankle rehabilitation is established by SimMechanics toolbox in Matlab software. A target trajectory is provided to produce input signals of actuating arms. Afterwards, the dynamics of parallel rehabilitation manipulator model are analyzed, and 3D rendering is generated. The experimental results show that it can provide the efficient and visual simulation platform to study the control strategy of parallel rehabilitation manipulator. © 2019, Editorial Department of Journal of Northeastern University. All right reserved.

引用

页码：310 / 314and333

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