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Conceptual design and dimensional synthesis of a novel parallel mechanism for lower-limb rehabilitation

Published online by Cambridge University Press:  30 October 2018

Hui Wang ,
Wen Li ,
Haitao Liu ,
Jianxin Zhang  and
Songtao Liu
Hui Wang
Affiliation:
School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China. E-mails: wanghui@tsguas.edu.cn, jidian_li@163.com, zhangjianxin@tsguas.edu.cn
Wen Li
Affiliation:
School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China. E-mails: wanghui@tsguas.edu.cn, jidian_li@163.com, zhangjianxin@tsguas.edu.cn
Haitao Liu*
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of State Ministry of Education, Tianjin University, Tianjin 300072, China
Jianxin Zhang
Affiliation:
School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China. E-mails: wanghui@tsguas.edu.cn, jidian_li@163.com, zhangjianxin@tsguas.edu.cn
Songtao Liu
Affiliation:
Chenxing (Tianjin) Automation equipment Co., Ltd., Tianjin 300450, China. E-mail: st2060@126.com
*
*Corresponding author. E-mail: liuht@tju.edu.cn
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Summary

This paper introduces a novel 2R1T parallel manipulator redundantly actuated by pneumatic muscles for lower-limb rehabilitation. First, the conceptual design of the proposed 3-DOF parallel mechanism is presented. Then, the inverse kinematics and the generalized Jacobian analysis are carried out. Based on the generalized Jacobian and the constraint characteristics of the mechanism, the force/motion transmissibility of the redundantly actuated parallel mechanism is investigated via four individual cases without actuation redundancy, leading to a suitable local transmission index for the evaluation of kinematic performance of the proposed mechanism. Finally, the design variables are optimized by maximizing the mean value of the local transmission index with the aid of genetic algorithm. The numerical result shows that the proposed parallel mechanism can achieve a good kinematic performance in its task workspace.

Keywords

Conceptual designKinematic optimizationParallel mechanismLower-limb rehabilitation
Type
Articles
Information
Robotica , Volume 37 , Issue 3 , March 2019 , pp. 469 - 480
Copyright
Copyright © Cambridge University Press 2018 

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