2-UPS/RRR parallel mechanism position inverse solution and reachable workspace analysis
LI Chang
WANG Youqiang
ZHENG Yi
WANG Feiyang
WANG Dengze
Abstract：[Objective]A 2-UPS/RRR parallel mechanism was created for the rehabilitation of the ankle.[Methods]The mechanism's three-dimensional model was created using SolidWorks software,and a moveable platform with an adjustable center of rotation was designed in accordance with various ankle rotation centers of different patients;the degree of freedom of the mechanism was calculated and analyzed using the helix theory,and the results were verified by using the Kutzbach-Grübler formula;the inverse solution equation for the mechanism's position and the polynomial equation were derived;the results were jointly simulated and verified using Matlab and Adams simulation software;the workspace of the parallel mechanism was solved using the limit search method.[Results]The results indicate that the mechanism can meet the rehabilitation training requirements of the human ankle joint.The research can provide reference for the subsequent physical prototype manufacturing.
Keywords：Ankle rehabilitationParallel mechanismDegree of freedomPosition inverse solution
Publication Date：2025-07-31
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 31-38 )