{"title":"变形腕部康复平行机构的设计与分析","authors":"Yanbin Zhang, Zhenzhen Chang, Liming Song, Yaoguang Li, Shuang Zhang","doi":"10.1007/s40997-024-00765-y","DOIUrl":null,"url":null,"abstract":"<p>In order to improve the wrist rehabilitation training effect, a 3RPUP<sub>c</sub>-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.</p>","PeriodicalId":1,"journal":{"name":"Accounts of Chemical Research","volume":null,"pages":null},"PeriodicalIF":16.4000,"publicationDate":"2024-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design and Analysis of a Metamorphic Wrist Rehabilitation Parallel Mechanism\",\"authors\":\"Yanbin Zhang, Zhenzhen Chang, Liming Song, Yaoguang Li, Shuang Zhang\",\"doi\":\"10.1007/s40997-024-00765-y\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>In order to improve the wrist rehabilitation training effect, a 3RPUP<sub>c</sub>-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.</p>\",\"PeriodicalId\":1,\"journal\":{\"name\":\"Accounts of Chemical Research\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":16.4000,\"publicationDate\":\"2024-05-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Accounts of Chemical Research\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1007/s40997-024-00765-y\",\"RegionNum\":1,\"RegionCategory\":\"化学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"CHEMISTRY, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Accounts of Chemical Research","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1007/s40997-024-00765-y","RegionNum":1,"RegionCategory":"化学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CHEMISTRY, MULTIDISCIPLINARY","Score":null,"Total":0}
Design and Analysis of a Metamorphic Wrist Rehabilitation Parallel Mechanism
In order to improve the wrist rehabilitation training effect, a 3RPUPc-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.
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.
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