Abstract
The occurrence of diseases and accidental damage cause many people to have knee motion dysfunction, the synthesis design of the knee joint rehabilitation mechanism is of great significance. This paper proposes a new 4 DOF (degree-of-freedom) motion equivalent model of knee joint, and the limb synthesis and configuration synthesis of 4 DOF parallel rehabilitation mechanism of knee joint are carried out. Firstly, according to the physiological characteristics of the knee joint and the three non-negligible motion characteristics of the knee joint, a 4 DOF motion equivalent model of the knee joint that is more in line with the knee joint motion is obtained, and the motion screw system and constraint screw system of this model are obtained, Configuration synthesis conditions are proposed. Second, the type of limb constraint is obtained according to the configuration synthesis conditions, and the limb synthesis is carried out by using screw correlation and reciprocity. Finally, the constraint types of the moving platform are classified by using the constraint screw multiple set theory, and the configuration synthesis of each type is carried out, a large number of knee joint 4 DOF parallel rehabilitation mechanisms that meet the requirements are obtained.
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This research work was supported by the Natural Science Foundation of Hebei Grant Numbers E2022202130.
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Zhang, Z., Yu, B., Wang, J., Song, J., Wei, J. (2023). Configuration Synthesis of 4 DOF Knee Rehabilitation Parallel Mechanism Based on Multiset Theory. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_2
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DOI: https://doi.org/10.1007/978-981-99-6501-4_2
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