面向踝部康复的广义球面并联机构型综合

针对现有踝关节康复机器人难以充分拟合踝关节复杂运动，人机相容性较差的问题，提出一系列与踝关节实际骨结构匹配程度更高的串联等效拟合模型。为满足踝关节串联等效拟合模型对康复机器人机构本体的功能需求，给出一种具有串联等效拟合模型的广义球面并联机构型综合方法。首先枚举出广义球面机构的基本构件及运动副，并依此构造出广义球面支链。继而基于螺旋理论分析单支链以及多支链组合对动平台的约束性能，给出支链的组合条件与原则，阐明不同支链在机构中作用的异同，并依此归纳出位置支链和姿态支链两类广义球面基本支链。最后基于基本支链的约束特性，根据支链组合条件，综合出一系列适用于踝关节康复机器人本体研究的广义球面并联机构，并通过螺旋理论证明其与踝关节串联等效拟合模型的自由度数及性质具有一致性，为此类康复机器人本体设计提供理论依据。

Synthesis of Generalized Spherical Parallel Manipulations for Ankle Rehabilitation

In view of the poor human-machine compatibility of existing ankle rehabilitation robots, which makes it difficult to fully fit the complex motion of the ankle joint, a series of series equivalent fitting models with a higher degree of matching with the actual bone structure of the ankle joint are proposed. In order to meet the functional requirements of this type of equivalent fitting model on the mechanism ontology of rehabilitation robot, a configuration synthesis method of generalized spherical parallel mechanism with series equivalent fitting model is presented. First, the basic components and kinematic pairs of the generalized spherical mechanism are enumerated, and the generalized spherical limb is constructed accordingly. Then, based on the spiral theory, the constraint performance of the single limb and limb combination on the moving platform is analyzed. The combination conditions and principles of limbs are given, the role of different limbs in the mechanism is clarified, and two types of general spherical basic limbs, position limb and orientation limb, are summarized accordingly. Finally, based on the constraint characteristics of the basic limb and the combination conditions, a series of generalized spherical parallel mechanisms suitable for the study of the ankle rehabilitation robot ontology are synthesized. The screw theory proves that the number and nature of degrees of freedom of these of mechanism and the equivalent fitting model of the ankle are consistent, which provides a theoretical basis for the design of such rehabilitation robots.