期刊
MECHANISM AND MACHINE THEORY
卷 104, 期 -, 页码 31-42出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2016.05.018
关键词
Dimensional synthesis; Cam-linkage mechanism; Gait rehabilitation
资金
- National Natural Science Foundation of China (NSFC) [51175368, 51405331]
- National High Technology Foundation 863 Project [2012AA041602]
In order to overcome the drawbacks of traditional gait training methods, gait rehabilitation robotized systems have been developed to provide a consistent, labor-saving and efficient treatment. However, the high cost of these systems makes them impracticable for home healthcare. This paper deals with the conceptual design and dimensional synthesis of cam-linkage mechanisms for gait rehabilitation. First, a two degrees of freedom seven-bar crank-slider mechanism is selected as the original mechanism, of which the displacement of the slider is formulated as a function of the crank angle to achieve the target trajectory by using the inverse kinematics. A cam is then designed to reduce the mobility of the mechanism to one. Moreover, a constant speed motor is sufficient for the control of the mechanism. For the dimensional synthesis, a goal function is proposed based on the kinematic performance criteria and constraints, and the genetic algorithm is employed for global searching. Two target trajectories are used for the dimensional synthesis of the mechanism. The results show the generated trajectories match well with the desired ones, which illustrates the feasibility of the methodology. (C) 2016 Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据