Design and Analysis of a Metamorphic Wrist Rehabilitation Parallel Mechanism

IF 1.5 4区工程技术 Q3 ENGINEERING, MECHANICAL Iranian Journal of Science and Technology-Transactions of Mechanical Engineering Pub Date : 2024-05-05 DOI:10.1007/s40997-024-00765-y

Yanbin Zhang, Zhenzhen Chang, Liming Song, Yaoguang Li, Shuang Zhang

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Abstract

In order to improve the wrist rehabilitation training effect, a 3RPUP_c-UPS metamorphic parallel mechanism is designed according to the physiological structure, motion characteristics and rehabilitation training requirements of the human wrist. Two motion modes of the mechanism, three-rotation and one-translation and two-rotation and one-translation, are obtained by locking or not locking the active joint of the metamorphic limb UPS. The motion output characteristics of the mechanism under two motion modes are analyzed based on the screw theory. The inverse kinematics solutions including the displacement, velocity and acceleration equations are derived. The singularity is discussed and all singular configurations are provided. The attitude workspace of the mechanism is analyzed using the Monte Carlo method. The structural optimization is performed based on the artificial bee colony algorithm. Research results show that the mechanism can fulfil all wrist rehabilitation training actions, such as the flexion/extension, ulnar/radial, traction/extrusion and pronation/supination motions.

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变形腕部康复平行机构的设计与分析

为提高腕关节康复训练效果，根据人体腕关节的生理结构、运动特点和康复训练要求，设计了3RPUPc-UPS变形并联机构。通过锁定或不锁定变形肢体 UPS 的活动关节，获得了该机构的三种运动模式，即三旋转一平移和两旋转一平移。基于螺杆理论分析了两种运动模式下机构的运动输出特性。得出了包括位移、速度和加速度方程在内的逆运动学解法。讨论了奇异性并提供了所有奇异配置。使用蒙特卡罗方法分析了机构的姿态工作空间。基于人工蜂群算法进行了结构优化。研究结果表明，该机构可以完成所有的手腕康复训练动作，如屈伸、尺侧/桡侧、牵引/外展和前屈/上举动作。

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来源期刊

Iranian Journal of Science and Technology-Transactions of Mechanical Engineering ENGINEERING, MECHANICAL-

CiteScore

2.90

自引率

7.70%

发文量

审稿时长

>12 weeks

期刊介绍： Transactions of Mechanical Engineering is to foster the growth of scientific research in all branches of mechanical engineering and its related grounds and to provide a medium by means of which the fruits of these researches may be brought to the attentionof the world’s scientific communities. The journal has the focus on the frontier topics in the theoretical, mathematical, numerical, experimental and scientific developments in mechanical engineering as well as applications of established techniques to new domains in various mechanical engineering disciplines such as: Solid Mechanics, Kinematics, Dynamics Vibration and Control, Fluids Mechanics, Thermodynamics and Heat Transfer, Energy and Environment, Computational Mechanics, Bio Micro and Nano Mechanics and Design and Materials Engineering & Manufacturing. The editors will welcome papers from all professors and researchers from universities, research centers, organizations, companies and industries from all over the world in the hope that this will advance the scientific standards of the journal and provide a channel of communication between Iranian Scholars and their colleague in other parts of the world.