Jixie chuandong (Jan 2021)
Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot
Abstract
An adjustable swing foot rehabilitation robot is proposed. According to the mode of ankle motion and the distribution of acupoint， the whole structure of foot rehabilitation robot is designed， and the motion principle of swing adjustable transmission mechanism is mainly introduced. The inverse method is used to calculate the transmission ratio， the coordinate transformation method is used to solve the kinematics solution of the pose of the pedal， and then the motion equation of the pedal attitude angle is obtained through the inverse solution analysis of the position. The kinematics simulation of virtual prototype is carried out by using SolidWorks software， and the comparison between the theoretical data and the simulation data of transmission ratio confirms the accuracy of theoretical analysis and safety of mechanism design. Finally， the key parameters of swing adjustment are analyzed.
