Hongpeng Zhou
Aiming at the rehabilitation training of the injured ankle, two prototypes of the ankle rehabilitation robots are proposed and selected and analyzed. Based on the parallel mechanism, two kinds of the 3-PRS ankle rehabilitation robots are designed in the paper. The first structure is that the moving platform is located above and the second structure is that the moving platform is located below. Two kinds of the 3-PRS ankle rehabilitation robots are applied with load, the static simulation under the different moving platform poses is performed and the analysis is carried out according to the static simulation results. The experiment shows that the structure of the 3-PRS ankle rehabilitation robot moving platform located below has higher stability and more reasonable stress analysis.
3-PRS parallel mechanism, Ankle, Rehabilitation robot, Statics analysis, ANSYS