{"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":49063,"journal":{"name":"Iranian Journal of Science and Technology-Transactions of Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":1.5000,"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\":49063,\"journal\":{\"name\":\"Iranian Journal of Science and Technology-Transactions of Mechanical Engineering\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.5000,\"publicationDate\":\"2024-05-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Iranian Journal of Science and Technology-Transactions of Mechanical Engineering\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1007/s40997-024-00765-y\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Iranian Journal of Science and Technology-Transactions of Mechanical Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1007/s40997-024-00765-y","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MECHANICAL","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：
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.
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