Kinematic Analysis and Optimization Design of 4-UCU/RRC Parallel Mechanism for Ankle Rehabilitation

李清; 齐青华; 任毅明

doi:10.13433/j.cnki.1003-8728.20230317

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Kinematic Analysis and Optimization Design of 4-UCU/RRC Parallel Mechanism for Ankle Rehabilitation

更新时间：2026-04-23

- Kinematic Analysis and Optimization Design of 4-UCU/RRC Parallel Mechanism for Ankle Rehabilitation
- Mechanical Science and Technology for Aerospace Engineering Vol. 44, Issue 9, Pages: 1543-1548(2025)
- 作者机构：
  
  中北大学机构机械工程学院,太原,030051
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230317
  CLC：
- Published：2025
- 稿件说明：
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李清, 齐青华, 任毅明. Kinematic Analysis and Optimization Design of 4-UCU/RRC Parallel Mechanism for Ankle Rehabilitation[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(9): 1543-1548.
DOI：

李清, 齐青华, 任毅明. Kinematic Analysis and Optimization Design of 4-UCU/RRC Parallel Mechanism for Ankle Rehabilitation[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(9): 1543-1548. DOI： 10.13433/j.cnki.1003-8728.20230317.

摘要

针对踝关节损伤，基于4-UCU/RRC并联机构提出一种具有3R1T运动性能的踝关节康复机构。应用螺旋理论对其自由度进行分析，并采用封闭矢量法分析位置逆解。利用SolidWorks进行构型建模，并导入Adams中对其进行运动学仿真，分析仿真结果，曲线平滑，且没有断点及突变点，结果表明该踝关节康复机构安全性强，稳定性好。利用Ansys对该康复机构进行静力学仿真分析，并对该踝关节康复机构进行优化设计，使康复机构具有较强的承载能力，满足受损踝关节的康复需求。

Abstract

Aiming at the ankle injury of stroke patients

an ankle rehabilitation mechanism with 3R1T athletic performance is proposed based on a 4-UCU/RRC parallel mechanism. The spiral theory is used to analyze its degrees of freedom

and the closed vector method is used to solve the position inverse solution. SolidWorks is used for modeling

and the kinematic simulation is introduced into Adams

and the simulation results are analyzed

all curves are smooth and there is no any breakpoints and mutation points

indicating that the ankle rehabilitation mechanism has strong safety and stability. Ansys is used to perform static simulation of the rehabilitation institution and optimize the design of the mechanism

so that the mechanism has strong endurance

and meets the rehabilitation needs of damaged ankle joints.

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