{"title":"具有三个自由度的假肢踝关节 2SPU-RU 并联机构的建模与仿真","authors":"Victoria E. Abarca, Dante A. Elias","doi":"10.3390/inventions9040071","DOIUrl":null,"url":null,"abstract":"To assist an individual with an amputation in regaining daily quality of life, a 2SPU-RU type parallel mechanism was developed based on ankle biomechanics. The inverse kinematic analysis of this mechanism was performed using the vector method. Subsequently, the Jacobian matrices were analyzed. The dynamic model of the mechanism was then created based on the principle of virtual work, and its theoretical solution was compared with numerical results obtained in a simulation environment. Additionally, the validity of the dynamic model and the inverse kinematics was verified by comparing theoretical and simulation results for the movements of plantarflexion–dorsiflexion, eversion–inversion, and abduction–adduction during the gait cycle.","PeriodicalId":14564,"journal":{"name":"Inventions","volume":null,"pages":null},"PeriodicalIF":2.1000,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Modeling and Simulation of a 2SPU-RU Parallel Mechanism for a Prosthetic Ankle with Three Degrees of Freedom\",\"authors\":\"Victoria E. Abarca, Dante A. Elias\",\"doi\":\"10.3390/inventions9040071\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"To assist an individual with an amputation in regaining daily quality of life, a 2SPU-RU type parallel mechanism was developed based on ankle biomechanics. The inverse kinematic analysis of this mechanism was performed using the vector method. Subsequently, the Jacobian matrices were analyzed. The dynamic model of the mechanism was then created based on the principle of virtual work, and its theoretical solution was compared with numerical results obtained in a simulation environment. Additionally, the validity of the dynamic model and the inverse kinematics was verified by comparing theoretical and simulation results for the movements of plantarflexion–dorsiflexion, eversion–inversion, and abduction–adduction during the gait cycle.\",\"PeriodicalId\":14564,\"journal\":{\"name\":\"Inventions\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2024-07-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Inventions\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.3390/inventions9040071\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Inventions","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3390/inventions9040071","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
Modeling and Simulation of a 2SPU-RU Parallel Mechanism for a Prosthetic Ankle with Three Degrees of Freedom
To assist an individual with an amputation in regaining daily quality of life, a 2SPU-RU type parallel mechanism was developed based on ankle biomechanics. The inverse kinematic analysis of this mechanism was performed using the vector method. Subsequently, the Jacobian matrices were analyzed. The dynamic model of the mechanism was then created based on the principle of virtual work, and its theoretical solution was compared with numerical results obtained in a simulation environment. Additionally, the validity of the dynamic model and the inverse kinematics was verified by comparing theoretical and simulation results for the movements of plantarflexion–dorsiflexion, eversion–inversion, and abduction–adduction during the gait cycle.
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