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3自由度冗余驱动下肢康复并联机构的运动学优化设计.docx

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3自由度冗余驱动下肢康复并联机构的运动学优化设计 Title:KinematicOptimizationDesignofa3-Degree-of-FreedomRedundantlyActuatedLowerLimbRehabilitationParallelMechanism Abstract: Thedevelopmentofrehabilitationparallelmechanismsforlowerlimbrehabilitationhasgainedsignificantattentioninrecentyears.Thispaperfocusesonthekinematicoptimizationdesignofa3-degree-of-freedom(DOF)redundantlyactuatedlowerlimbrehabilitationparallelmechanism.Theobjectiveofthisstudyistoenhancetherehabilitationeffectivenessandflexibilityofthemechanism.Thedesignprocessinvolvesthemodelingandanalysisofthemechanism'skinematicsforoptimization.Simulationresultsdemonstratetheimprovedperformanceachievedthroughtheproposedkinematicdesign. 1.Introduction Lowerlimbrehabilitationplaysacrucialroleinrestoringthefunctionalityandqualityoflifeforpatientswithphysicalimpairments.Inrecentyears,parallelmechanismshaveemergedasasuitablechoiceforlowerlimbrehabilitationduetotheirhighmechanicalstiffness,precisecontrol,andadaptability.Thispaperpresentsanovel3-DOFredundantactuatedlowerlimbrehabilitationparallelmechanism,aimingtooptimizeitskinematicdesignforenhancedrehabilitationeffectiveness. 2.LiteratureReview Thissectiondiscussestherecentdevelopmentsandadvancementsinlowerlimbrehabilitationparallelmechanisms.Itcoversvariousdesignapproaches,actuationmethods,andtheiradvantagesanddisadvantages.Theimportanceofredundancyinparallelmechanismsisalsohighlighted,asitallowsredundancyresolutionforimprovedtrajectorytrackingandenhancedsafety. 3.KinematicModeling Thekinematicmodelingoftheproposedparallelmechanisminvolvesthederivationofitsforwardandinversekinematicsequations.Thestudypresentsdetailedequationsandderivationsforthemechanism'sposition,velocity,andaccelerationanalyses.Thekinematicmodelservesasafoundationforsubsequentoptimizationandcontroldesign. 4.KinematicOptimizationDesign Thissectionpresentsthekinematicoptimizationdesignapproachadoptedfortheproposedmechanism.Theobjectiveoftheoptimizationistoimprovetherehabilitationeffectivenessandflexibilityoftheparallelmec