Design and Analysis of a Metamorphic Wrist Rehabilitation Parallel Mechanism

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research 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

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.