Volume 43 Issue 1
Sep 2022
Turn off MathJax
Article Contents
JOURNAL OF MECHANICAL ENGINEERING  > 2017  >  43(1): 49-57.
LI Jianfeng, LI Shicai, TAO Chunjing, JI Run, XU Chenghui, ZHANG Zhaojing. 2-UPS/RR Parallel Mechanism Used in Human Hip Joint Power Assist and Kinematic Performance[J]. JOURNAL OF MECHANICAL ENGINEERING, 2017, 43(1): 49-57. doi: 10.11936/bjutxb2016020013
Citation: LI Jianfeng, LI Shicai, TAO Chunjing, JI Run, XU Chenghui, ZHANG Zhaojing. 2-UPS/RR Parallel Mechanism Used in Human Hip Joint Power Assist and Kinematic Performance[J]. JOURNAL OF MECHANICAL ENGINEERING, 2017, 43(1): 49-57. doi: 10.11936/bjutxb2016020013
shu

2-UPS/RR Parallel Mechanism Used in Human Hip Joint Power Assist and Kinematic Performance

doi: 10.11936/bjutxb2016020013
  • 1.

    College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China

  • 2.

    National Research Center for Rehabilitation Technical Aids, Beijing 100176, China

  • Received Date: 23 Feb 2016
    Available Online: 09 Sep 2022
  • Issue Publish Date: 01 Jan 2017
    Abstract
  • To help patients with impaired hip joint walking exercise, a 2-UPS/RR parallel mechanism was presented, which is suitable for hip joint assisting. It meets the requirements of hip movement for flexion/extension adduction/abduction, pronation/supination, and its mechanism centres of rotations accurately match different patient’s hip. The mobility of the mechanism was calculated, inverse kinematics was solved by using the analytical method, and the velocity Jacobian matrix was established. By demarcating the driving parameters, the work space of the mechanism was coped with. Finally, in view of the Jacobian matrix, the kinematics performance of the mechanism was analyzed when driving mobile deputy and two axes of Hooke deputy, respectively. Results show that the mechanism is of favourable operability, flexibility and stiffness characteristics within the specified workspace. Compared wtih some existing hip joint power assist robots, the mechanism in simple structure can effectively avoid unnecessary interference between branches and significantly reduce the occupancy volume of the entire unit, absolutely with more advantages. Therefore, the designed mechanism is suitable for hip assist training.

     

    • FullText(HTML)
  • loading
    • References(19)
  • [1]
    LÜ G M, SUN L N, PENG L G.Rehabilitation robotics technology development status and key technology analysis[J]. Journal of Harbin Institute of Technology, 2004, 36(9): 1224-1227. (in Chinese)
    [2]
    ZHANG J J, HU X F, XU X L.Progress in lower limb rehabilitation robot[J]. Chinese Journal of Rehabilitation Theory and Practice, 2012, 18(8): 728-730. (in Chinese)
    [3]
    FANG T T, HAN J H, WANG H L, et al.New horizontal lower limb rehabilitation robot system design[J]. China Journal of Rehabilitation Medicine, 2013, 28(3): 246-250. (in Chinese)
    [4]
    ZHANG L X, LI C S, LIU F Q.Design and experimental analysis of multi-mode lower limb rehabilitation robot[J]. China Journal of Rehabilitation Medicine, 2011, 26(5): 464-466. (in Chinese)
    [5]
    王兴松, 单晖, 徐继刚, 等. 一种基于套索传动的髋关节助力康复装置: 104825306 A [P].2015-08-12.
    [6]
    JEREMY O, MOHAMED B, AMALRIC O, et al.Development of an assistive motorized hip orthosis[C]//2013 IEEE International Conference on Rehabilitation Robotics. Washington: IEEE, 2013: 24-26
    [7]
    PAN M, ZHANG D.Analysis of a novel design of a three-degree of freedom hip exoskeleton based on biomimetic parallel structure[C]//2011 First International Conference on Robot, Vision and Signal Processing. Oshawa: IEEE, 2011: 601-605.
    [8]
    SONG L P.Based on lower limb rehabilitation robotics 3-UPU parallel mechanism [D]. Chengdu: Xihua University, 2013. (in Chinese)
    [9]
    YU Y, TAO H B, LIANG W Y, et al.A parallel mechanism and pseudo-compliance control using on wearable power assist hips[C]//Proceedings of 2012 IEEE International Conference on Mechatronics and Automation. Chengdu: IEEE, 2012: 1502-1507.
    [10]
    YU Y, TAO H B, LIANG W Y, et al.A parallel mechanism used on human hip joint power assist[C]//Proceedings of 2009 IEEE International Conference on Robotics and Biomimetics. Guilin: IEEE, 2009: 1007-1012.
    [11]
    YU Y, LIANG W Y, GE Y J et al. Jacobian analysis for parallel mechanism using on human walking power assisting[C]//Proceedings of 2011 IEEE International Conference on Mechatronics and Automation. Beijing: IEEE, 2011: 282-288
    [12]
    LIANG W Y.Wearable-type parallel robot research hip booster[D]. Hefei: University of Science and Technology of China, 2012. (in Chinese)
    [13]
    顾冬云. 骨关节功能解剖学[M]. 6版. 北京: 人民军医出版社, 2011: 4-65.
    [14]
    戴红. 人体运动学[M]. 北京: 人民卫生出版社, 2008: 17-50.
    [15]
    WANG M X, HUANG T.Kinematic analysis and scale synthesis of 3-SPR parallel mechanism[J]. Journal of Mechanical Engineering, 2013, 49(15): 22-27. (in Chinese)
    [16]
    CHEN X L, GAO Q, ZHAO Y S.Dexterity measures of 4-UPE-UPU parallel coordinate measuring machine[J]. Computer Integrated Manufacturing Systems, 2012, 18(6): 1200-1209. (in Chinese)
    [17]
    YOSHIKAWA T.Manipulability of robotic mechanism[J]. International Journal of Robotics Research, 1987, 4(2): 3-9.
    [18]
    SATISBRUG J K CRAIG J J. Articulated hands: force and kinematic issues[J]. International Journal of Robotics Research, 1982, l(1): 4-17.
    [19]
    LI Y, XU Q.Stiffness analysis for a 3-PUU parallel kinematic machine[J]. Mechanism and Machine Theory, 2008, 43(2): 186-200.
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    Figures(15)  / Tables(2)

    Get Citation
    PDF
    XML

    Article Metrics

    Article views(119) PDF downloads(0) Cited by()
    Proportional views
    Related

    Copyright © 2009《 石油钻探技术 》 All Rights Reserved.

    Address：North-Star Times Tower, No.8 Beichendong Road, Chaoyang District, Beijing, China China Pos：100101

    Tel：010-84988317，84988356，84988357 Fax：021-64253812 Email：syzt@vip.163.com

    Beijing public network security equipment 11010502036328　Beijing ICP backup 17033152

    Supported by: Beijing Renhe Information Technology Co., Ltd.  

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return