Kinetic analysis of an ankle rehabilitator composed of two parallel delta robots

The present research shows the kinetic analysis of an ankle rehabilitator, the rehabilitation mechanism consists of a fixed platform in which there are two inverted delta robots linked a mobile platform, actuators are controlled by servomotors which provide six basic movements of ankle rehabilitation like dorsiflexion, plantar flexion, inversion, eversion, abduction and adduction, which was verified through a motion study and singularity analysis. The design of the rehabilitator is based on the establishment of a methodology that allows the development of a machine that achieves all the ergonomic, technological and quality requirements, using tools of computational mechanics that allowed generating a virtual model able to generate the required movements and supporting the mechanical stress generated. The mechanism was modeled in CAD software such as SolidWorks, with the virtual model is possible to analyze the inverse and direct kinematics determining the position and speed of the joints, for the selection of the servomotors the dynamic analysis was made, obtaining the accelerations, forces and torques using the MSC Adams software. For the analysis of deformations, normal stresses and shear forces, the CAE software such as ANSYS was used, which works on the basis of the finite element method, with its Workbench platform and its structural analysis module. Finally, the machine was built using 3D printing and performance tests were carried out.