WO2020200231A1 - 解耦踝关节康复机器人及完全解耦并联机构 - Google Patents
解耦踝关节康复机器人及完全解耦并联机构 Download PDFInfo
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- WO2020200231A1 WO2020200231A1 PCT/CN2020/082737 CN2020082737W WO2020200231A1 WO 2020200231 A1 WO2020200231 A1 WO 2020200231A1 CN 2020082737 W CN2020082737 W CN 2020082737W WO 2020200231 A1 WO2020200231 A1 WO 2020200231A1
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- 230000007246 mechanism Effects 0.000 title claims abstract description 153
- 210000003423 ankle Anatomy 0.000 title claims abstract description 11
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 36
- 210000002683 foot Anatomy 0.000 claims description 27
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 238000012549 training Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 7
- 241001227561 Valgus Species 0.000 claims description 6
- 241000469816 Varus Species 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 238000010438 heat treatment Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 208000017200 Bone and joint injury Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Definitions
- the invention belongs to the field of ankle joint rehabilitation, and particularly relates to a decoupled ankle joint rehabilitation robot capable of three rotations and one movement and a fully decoupled parallel mechanism with symmetrical two rotations and one movement.
- Ankle joint injury is a common bone and joint injury.
- Ankle joint rehabilitation is of great significance to patients. Many stroke and hemiplegia patients also urgently need to strengthen the training of the ankle joint.
- the ankle joint rehabilitation training is carried out with training devices.
- most of the training devices adopt series mechanisms to realize the movement of the workbench, but the structure strength is often poor and the degree of freedom of movement is low; while the training devices adopting parallel mechanisms have improved strength, but the structure is complex and the volume is larger. Difficult to encapsulate.
- the Chinese patent with publication number CN201620740097.4 discloses an ankle joint rehabilitation robot, the mechanism base and a workbench arranged above the base, wherein the workbench and Three linkage mechanisms with the same structure are arranged in parallel between the bases, namely a first linkage mechanism, a second linkage mechanism, and a third linkage mechanism.
- the worktable can be Realize front and back flip, left and right flip and rotation in the horizontal plane.
- the workbench can perform dorsiflexion, plantarflexion, varus, valgus, internal rotation, and external rotation training for the ankle joint, but the mechanism is kinematically coupled and inconvenient to control; the public number is CN201510472613.X in China
- the patent discloses a parallel ankle joint rehabilitation robot and its control method.
- the mechanism includes a base, a support frame is inserted on the base, and an adjustment mechanism is mounted on the support frame.
- the adjustment mechanism includes a main rod, Forearm rod and leg support rod, the front end of the main rod is connected with the forearm rod, the leg support rod is installed and connected with the main rod, the forearm rod is installed with a connecting rod, the main rod and the support frame are movably clamped; also includes an adjustment mechanism and movement
- the mechanism adopts pneumatic muscle or linear motor as the driver, the front end of the driving mechanism is connected with the connecting rod in the adjusting mechanism, the end of the driving mechanism is connected with the motion mechanism, and the motion mechanism is movably clamped with the rear end of the main rod.
- the robot disclosed in the invention can adjust the range of motion to be able to adapt to the use of different patients, and can cover sports training with three degrees of freedom of the ankle joint, but it is not easy to control.
- the parallel mechanism has the characteristics of high speed, high rigidity, large bearing capacity, and good dynamic response.
- the parallel/hybrid configuration equipment with the parallel mechanism as the main mechanism has been widely used.
- the application of parallel mechanisms has gradually expanded to many operations that do not require six degrees of freedom in space (such as alignment, attitude positioning, and axisymmetric machining).
- the use of appropriate parallel mechanisms with fewer degrees of freedom can reduce processing and manufacturing.
- the cost of low-degree-of-freedom parallel mechanism has become a hot spot in the academic and industrial circles of international parallel mechanism.
- Frontier developed countries pay special attention to the low-degree-of-freedom parallel mechanism in aviation, aerospace, automotive, food and medicine industries. Independent innovation, system design and engineering application. Decoupling parallel mechanisms can achieve motion decoupling, and the higher the degree of mechanism decoupling, the simpler and easier to solve the kinematics and dynamics analysis, which can greatly simplify the robot control and trajectory planning.
- the Chinese Patent Publication No. CN201510876263.3 discloses a symmetrical decoupling parallel mechanism with two rotations and one shift and three degrees of freedom.
- the mechanism includes a platform, a base, and four connected platforms.
- the support column with motor and screw mechanism of the base where: the ends of the four support columns are fixedly connected with the base, the screw mechanism of the support column is connected with the platform through a ball hinge mechanism; the fixed point position of the ball hinge mechanism and the platform They are symmetrical to each other.
- the invention adopts four motors to drive, the structure of the mechanism is simple, and the machining accuracy can be ensured, but the requirements for control are relatively high, otherwise it is easy to produce excessive constraints and affect the final motion output, and the working space is narrow.
- the Chinese patent with publication number CN201520767012.7 discloses a three-degree-of-freedom movement decoupling parallel mechanism with two rotations and one movement.
- the mechanism includes a moving platform, a static platform and a three-degree-of-freedom movement decoupling parallel mechanism with two rotations and one movement.
- One of the two branch kinematic chains is a single open chain and the other is a mixed chain.
- the mixed chain is composed of a closed-loop structure connected in series with a rotating pair.
- the closed-loop structure is composed of The first and second sub-branches are formed.
- the first cylinder axis of the single-open chain is parallel to the sixth rotation axis of the hybrid chain, and both are perpendicular to the center line of the fourth moving pair of the hybrid chain.
- the input of the active joint There is a one-to-one control relationship between the motion and the output motion of the moving platform, which has excellent kinematics decoupling.
- one of the branches has too many motion pairs, which is difficult to control and difficult to achieve the desired effect.
- the present invention designs a mechanism that can achieve 3R1T
- the serial-parallel hybrid mechanism is simple and symmetrical in structure, and it is kinematically decoupled and easy to control.
- Intelligent monitoring and sensing devices are added to the corresponding important parts, so that the ankle rehabilitation robot can meet general rehabilitation Demands can also be optimized in terms of cost and strength; on the other hand, in order to overcome the shortcomings of existing mechanisms and solve the problem of inconvenient control of the branch motion of decoupling mechanisms, it is the development of mechanism to propose new mechanisms with different structures and functions.
- the purpose of the present invention is to provide a 2R1T symmetrical decoupled parallel robot mechanism with a simple and symmetrical structure, easy to control, two rotations and one movement, three degrees of freedom in total, and complete decoupling.
- the present invention is realized as follows:
- a three-turn and one-shift decoupling ankle joint rehabilitation robot which includes a body, a driving mechanism and a monitoring system.
- the body is a symmetrical hybrid mechanism.
- the hybrid mechanism includes a base, a moving platform, and a The three branches connected to the base and the movable platform and the foot pedals connected in series with the movable platform; the bottom of the base is provided with two sliding guide rails symmetrically distributed about the Y axis and consistent with the Y axis direction , The bottom of the base is provided with two brackets symmetrical about the Y axis;
- the movable platform is a frame structure, including a first bracket, a second bracket, a third bracket, and a fourth bracket that are connected end to end in sequence;
- the parallel part of the hybrid mechanism is a 2-CPRR-PRR parallel mechanism.
- the parallel mechanism is a decoupled two-rotation-one mobile parallel mechanism.
- the first branch of the three branches connecting the base and the moving platform is PRR branch, the second branch and the third branch are both CPRR branches and the initial poses are symmetrically distributed about the YOZ plane;
- the first branch includes a first link and a second link, and the first end of the first link Connected to the sliding guide rail by a moving pair, the second end of the first connecting rod and the first end of the second connecting rod are connected by a rotating pair whose axis is perpendicular to the bottom of the base, and the second connecting rod
- the second end of the rod is connected with the first bracket of the movable platform through a rotation pair whose axis is parallel to the x-axis of the movable platform;
- the second branch includes a first connecting rod, a second connecting rod, and a third connecting rod.
- the first end of the first connecting rod and the second bracket of the base are connected by a cylinder pair whose axis is perpendicular to the base, and the second end of the first connecting rod passes through the first end of the second connecting rod
- the moving pair parallel to the bottom of the base is connected, and the second end of the second link is connected to the first end of the third link through a rotating pair whose axis is perpendicular to the bottom of the base.
- the second end of the rod is connected with the second bracket of the movable platform through a rotation pair whose axis is parallel to the x-axis of the movable platform;
- the third branch includes a first connecting rod, a second connecting rod and a third connecting rod.
- the first end of the first connecting rod and the third bracket of the base are connected by a cylinder pair whose axis is perpendicular to the base, and the second end of the first connecting rod and the first end of the second connecting rod pass
- the second end of the second link is connected to the first end of the third link through a rotating pair whose axis is perpendicular to the bottom of the base.
- the second end of the second link is connected to the first end of the third link.
- the second end and the third bracket of the movable platform are connected by a rotating pair whose axis is parallel to the x-axis of the movable platform;
- the series part of the hybrid mechanism includes the movable platform and the foot pedal, the foot pedal It is fixedly connected with the first end of the pedal link, and the second end of the pedal link is connected with the fourth bracket of the movable platform through an axis through the rotation pair of the y-axis on the movable platform.
- the driving mechanism includes four driving motors, which respectively realize three degrees of freedom of rotation and one degree of freedom of movement of the rehabilitation robot, and the first moving pair of the first branch is provided with a driving motor, and the amount of movement indicates the mechanism
- the output parameter of the first degree of freedom of movement, the P pair included in the first cylindrical pair of the second branch is provided with a drive motor, and the amount of movement represents the output parameter of the first degree of freedom of rotation of the mechanism
- the third branch The R pair of the first cylinder pair is provided with a drive motor, the amount of movement of which represents the output parameter of the second degree of freedom of rotation of the mechanism, and the fixed connecting rod on the foot pedal is connected to the fourth bracket of the movable platform.
- There is a drive motor and its movement represents the output parameter of the third degree of freedom of rotation of the mechanism.
- the monitoring system includes an angular displacement sensor, a linear displacement sensor, a limit switch and a force sensor.
- the angular displacement sensor is installed at a position where the driving pair is a rotating pair
- the linear displacement sensor is installed at a position where the driving pair is a moving pair.
- the limit switches are distributed at the limit positions of each drive pair
- the force sensor is installed on the foot pedal, and the foot pedal is provided with an adapter component, which can be installed with a heating device or a massage device to enrich the rehabilitation robot Features.
- the ankle joint rehabilitation robot is a decoupling mechanism in terms of kinematics, and can independently realize three rotations and one movement by controlling different branches, and correspondingly realize dorsiflexion/toe flexion, varus/valgus in ankle joint movement , Internal rotation/external rotation and traction movement.
- the three rotation centers of the robot coincide at one point, and the length of the link connecting the foot pedal is adjustable.
- the length of the link connecting the foot pedal is adjustable.
- the present invention also provides a symmetrical two-rotation one-shift fully decoupled parallel mechanism, which includes a base, a moving platform, and a first branch, a second branch, and a first branch connecting the base and the moving platform.
- the base includes two parallel slide rails and a bracket.
- the movable platform has a regular triangle shape.
- the three vertices of the movable platform are respectively provided with a first bracket, a second bracket and a third bracket.
- the first branch and the second branch are both PRR branches, including connecting rods, moving pairs P pairs, and rotating pairs R pairs;
- the third branch is a CPU branch, including connecting rods, cylindrical pairs C pairs, and moving pairs P pairs With the Hooke hinge U pair, the first branch, the second branch and the third branch are completely decoupled through the movement pairs.
- the first branch and the second branch have the same structure, and both branches include a first link and a second link. The first end of the first link of the first branch is connected to the first end of the base.
- a slide rail is connected to form a P 1 pair
- the first end of the first link of the second branch is connected with the second slide rail of the base to form a P 2 pair
- the P 1 pair in the first branch The movement direction is the same as the movement direction of the P 2 pair in the second branch, and both are along the Y axis direction in the coordinate system on the base.
- the second end of the first link of the first branch is The first end of the second connecting rod of the first branch is connected to form an R 1 pair, and the R 1 auxiliary axis direction is the same as the Z axis direction in the fixed coordinate system on the base and passes through the o 1 point of the moving platform, the second end of the first link and a second branch connected to a first end of the second link of the second branch R 2 form a pair, the second branch of the first R 2 and the sub
- the R 1 pairs in the branches are collinear, the second end of the second link of the first branch is connected with the first bracket of the movable platform to form R 3 pairs, and the second link of the second branch is The two ends are connected with the second bracket of the movable platform to form R 4 pairs.
- the axis of the R 4 pairs in the second branch and the axis of the R 3 pairs in the first branch are always collinear and always pass through the moving platform. O 1 point on the platform.
- the third branch includes a third connecting rod and a fourth connecting rod.
- the first end of the third connecting rod is connected to the support of the base through a C pair, and the axis of the cylinder pair is always perpendicular to the base.
- Seat plane, the second end of the third link and the first end of the fourth link are connected by P 3 pairs, the direction of the P 3 pairs is always parallel to the base plane, the fourth
- the second end of the connecting rod is connected to the third bracket of the movable platform through a U pair.
- the U pair in the third branch is composed of two rotating pairs and has two rotation axes perpendicular to each other.
- the first axis of rotation is always perpendicular to the plane of the base, and the second axis of rotation of the U pair is parallel to the base platform, and is always aligned with the R 3 auxiliary axis in the first branch and the The R 4 secondary axis in the second branch is parallel.
- the first branch and the second branch are symmetrically distributed on both sides of the movable platform, and the first connecting rod of the first branch and the first connecting rod of the second branch are integrated, so
- the overall width is equal to the distance between the two slide rails on the base, the second connecting rod of the first branch and the second connecting rod of the second branch are L-shaped, and the moving platform
- the side length is greater than the distance between the two sliding rails on the base.
- the moving pair 1 of the first branch is provided with a drive motor, and the amount of movement represents the output parameter of the first degree of freedom of movement of the parallel mechanism;
- the rotating pair 2 of the second branch is provided with a drive motor, and the amount of movement is It represents the output parameter of the first degree of freedom of rotation of the parallel mechanism;
- the P pair included in the pair C of the third branch is provided with a drive motor, and the amount of movement represents the output parameter of the second degree of freedom of rotation of the parallel mechanism.
- the moving platform of the parallel mechanism can realize the rotation of the x-axis and the z-axis in the coordinate system on the orbiting platform o 1 point as the center. And the movement along the Y axis in the fixed coordinate system on the fixed platform.
- the present invention has the following beneficial effects:
- the mechanism is easy to install, and the ankle joint can move in a large space, and it can meet all ankle joint movement requirements;
- the three-dimensional rotation center of the robot can coincide with the actual ankle rotation center of different people by adjusting the length of the connecting rod;
- the three-dimensional rotation center of the robot is at a fixed position on the moving platform.
- the center of gravity of the foot always falls between the two sliding tracks of the first branch during actual operation, which can ensure the stability of motion and the stiffness of the robot;
- Robots are not only suitable for medical rehabilitation, but installing other auxiliary facilities on the pedals can achieve more functional requirements, and can also be used for home health care.
- the symmetrical two-rotation and one-shift fully decoupled parallel mechanism of the present invention retains the advantages of high strength, compact structure, and good stability of the parallel mechanism, and realizes two rotations in the x and z directions of the space and along the Y axis.
- One movement parallel to the base and three degrees of freedom kinematics are completely decoupled, and each input corresponds to a uniquely determined movement; the mechanism is symmetrical, and having two branch structures can save production cost and time, and the branches include
- the number of motion pairs is small and the motion pairs are simple, which is convenient to improve the accuracy of control and reduce the complexity of control. Compared with other parallel mechanisms, the installation accuracy requirements are also lower.
- the mechanism is easy to install and has a large space for movement, which overcomes the traditional symmetrical parallel mechanism. Disadvantages such as complex control and strong coupling.
- Figure 1 is a schematic diagram of the positions of all the movement pairs of the invented rehabilitation robot
- FIG. 2 is a schematic diagram of the branch 1 component of the rehabilitation robot of the present invention.
- Figure 3 is a schematic diagram of the branches 2 and 3 of the rehabilitation robot of the present invention.
- Fig. 4 is a schematic diagram of the series-connected components of the rehabilitation robot of the present invention.
- FIG. 5 is a schematic diagram of the distribution of monitoring sensors of the rehabilitation robot of the present invention.
- FIG. 6 is a schematic diagram of the entire structure of the symmetrical two-rotation one-shift fully decoupled parallel mechanism according to the second embodiment of the present invention.
- FIG. 7 is a schematic structural diagram of the third branch of the symmetrical two-rotation one-shift fully decoupled parallel mechanism according to the second embodiment of the present invention.
- the fuselage is composed of a symmetrical hybrid mechanism, including three branches 1, 2, 3 of the base 6, the moving platform 4, the connection base 6, and the moving platform 4, as well as in series.
- the pedal 5 on the moving platform 4; the parallel part of the hybrid mechanism is a 2-CPRR-PRR parallel mechanism, where C represents a cylindrical pair, P represents a moving pair, R represents a rotating pair, and the cylindrical pair is a moving pair Combination with a rotating pair, 2-CPRR means that there are two groups of cylindrical pair, moving pair, rotating pair and rotating pair connected in sequence.
- PRR means a combination of moving pair, rotating pair and rotating pair in sequence.
- Branch the three branches are combined into a parallel mechanism, the first branch 1 of the three branches connecting the base 6 and the moving platform 4 is the PRR branch, the second branch and the third branch 2, 3 are both CPRR branches and Symmetrical distribution can ensure the two-way homogeneity of the mechanism movement and convenient installation;
- two sliding guides 61 along the Y-axis are arranged at the bottom of the base 6 and are symmetrically distributed on both sides of the Y-axis to increase the stability of the mechanism.
- Two brackets 62 and 63 are respectively provided at the bottom symmetrically with respect to the Y-axis on both sides, which are respectively used to connect with branch 2 and branch 3.
- the movable platform 4 is a frame, and the first, second, third and fourth supports of the movable platform are all arranged in the frame Above, the first bracket 41, the second bracket 42, the third bracket 43, and the fourth bracket 44 in Figure 4 are respectively connected to the first branch 1, the second branch 2, the third branch 3 and the pedal link 51 ;
- the first branch 1 of the three branches is the PRR branch.
- One end of the first link 11 in the first branch 1 is connected to the sliding guide 61 of the base 6 through the moving pair P11, and the other end is connected to the first
- One end of the second connecting rod 12 of the first branch 1 is connected by a rotating pair R12 whose axis is perpendicular to the bottom of the base.
- One end of the second connecting rod 12 of the first branch 1 is at the same time connected to the 4th movable platform symmetrically distributed at both ends of the movable platform
- a bracket 41 is connected to form a rotating pair.
- the axis of the rotating pair R13 and the axis of the second rotating pair R12 of the first branch 1 intersect at the three-dimensional rotation center o 1 ;
- the second branch 2 and the third branch 3 of the three branches are both CPRR branches.
- the initial positions of the two branches are symmetrically distributed about the YOZ plane.
- the second branch 2 is One end of a connecting rod 21 is connected to the second bracket 62 of the base 6 through a cylinder pair C21 whose axis is perpendicular to the base 6, and the other end is connected to one end of the second connecting rod 22 of the second branch 2 through a parallel to the bottom of the base 6
- the moving pair P22 is connected.
- the other end of the second link 22 of the second branch 2 is connected to one end of the third link 23 of the second branch 2 through the rotating pair R23 whose axis is perpendicular to the bottom of the base 6.
- the second branch The other end of the third link 23 of 2 and the second bracket 42 of the movable platform 4 are connected by a rotating pair R24 whose axis is parallel to the x-axis;
- One end of the first connecting rod 31 of the third branch 3 is connected to the third bracket 63 of the base through a cylinder pair C31 with an axis perpendicular to the base 6, and the other end passes through one end of the second connecting rod 32 of the third branch 3.
- the moving pair P32 parallel to the bottom of the base 6 is connected, and the other end of the second link 32 of the third branch 3 is perpendicular to the bottom of the base 6 through the axis of the rotating pair R33 and the third link 32 of the third branch 3 One end is connected, and finally, the other end of the third link 33 of the third branch 3 is connected to the third bracket 43 of the movable platform 4 through a rotating pair R34 whose axis is parallel to the x-axis; preferably, the second branch 2 and the third The branches 3 have the same structure and are symmetrically distributed on both sides of the moving platform 4, which can ensure the uniformity of the performance of the moving platform 4 in the x direction;
- the series part of the hybrid mechanism includes a movable platform 4 and a foot pedal 5.
- the foot pedal 5 is fixedly connected to one end of the pedal linkage 51 at its front and rear ends. The other end is connected to the fourth bracket 44 of the movable platform 4 through the rotation pair R51 of the y-axis.
- the ankle joint rehabilitation robot that is an end effector is a 3R1T mechanism as a whole.
- the three rotation axis axes of the robot intersect at a point O1.
- the distance between the foot pedal 5 and the rotation center O1 can be adjusted to adapt to people with different ankle joint heights, so that the actual ankle joint center overlaps the actual rotation center of the rehabilitation robot to achieve a better exercise training effect; preferably, the foot pedal 5 is at
- the movable platform 4 frame is inside and below the frame; preferably, the feet will not be interfered by the passive platform 4 frame and other components during the movement.
- the size of the movable platform 4 frame can fit more than 90% of the feet of people.
- the safety protection facilities corresponding to the feet of different sizes can also be adjusted to the most suitable state accordingly.
- the foot pedal 5 is provided with an adapter assembly, which can be installed with corresponding fixed protection facilities to make the mechanism more reliable and comfortable; Heating devices or massage devices can also be installed to enrich the functions of the rehabilitation robot; in addition, according to the needs of different groups of people, other corresponding structures can be added to the pedals to enrich the functions of the entire robot.
- an adapter assembly which can be installed with corresponding fixed protection facilities to make the mechanism more reliable and comfortable; Heating devices or massage devices can also be installed to enrich the functions of the rehabilitation robot; in addition, according to the needs of different groups of people, other corresponding structures can be added to the pedals to enrich the functions of the entire robot.
- the ankle joint rehabilitation robot is a decoupling mechanism in kinematics.
- the so-called decoupling refers to the one-to-one correspondence between input and output.
- the ankle joint rehabilitation robot is a part of the decoupling mechanism and not a complete decoupling mechanism, but it can still be called
- three rotations and one movement can be realized respectively by controlling different branches, correspondingly realize dorsiflexion/toe flexion, varus/valgus, internal rotation/external rotation, and traction movement in the ankle joint movement; preferably,
- the first moving pair P11 of the first branch 1 is provided with a drive motor 1, the amount of movement of which represents the output parameter of the first degree of freedom of movement of the mechanism; the traction movement to achieve ankle joint rehabilitation;
- the included P pair is provided with a drive motor 2, the amount of movement of which represents the output parameter of the first degree of freedom of rotation of the mechanism, and realizes the dorsiflexion/toe flexion movement of the
- One end of the first connecting rod 11 of the first branch 1 is simultaneously connected with two sliding guide rails 61 symmetrically distributed on the base 6 to form a moving pair.
- the positive and negative rotations of the whole mechanism are realized along the Y-axis.
- the structure improves the rigidity of the parallel mechanism and also enhances the motion stability.
- One end of the second link 12 of the first branch 1 is simultaneously connected with the first support 41 of the moving platform symmetrically distributed at the two ends of the moving platform 4 to form a rotating pair.
- the axis of the rotating pair is connected to the second rotating pair R12 of the first branch 1.
- the axis intersects the three-dimensional rotation center.
- the first moving pair P11 of the first branch 1 of the mechanism may not take the form of a sliding rail. As long as the Y-direction movement of branch 1 can be realized, the driving pair can be wheeled or crawler type. The overall structure size of the robot is reduced and the packaging is easy.
- the R pair in the cylinder pair is not affected by the driving motor 2 as a passive movement pair.
- the first cylinder in the third branch 3 When the R pair in the pair is used as the driving pair, the P pair in the cylindrical pair is not affected by the driving motor 3 as a passive movement pair.
- the driving motor since the first and second branches are the same and are symmetrically distributed about the YZ plane, the driving motor The positions of 2 and driving motor 3 can be interchanged between the second and third branches, but it must be ensured that there is only one driving motor in one branch and the driving motion pair is the P pair and the C pair in the cylinder pair;
- the driving motor 4 provided at the rotation pair connecting the consolidated connecting rod and the fourth support of the movable platform is preferentially arranged at the smaller end of the branch support of the movable platform 4.
- the robot monitoring system mainly includes an angular displacement sensor, a linear displacement sensor, a limit switch and a force sensor.
- the sensor that monitors the Z-direction rotation output of the robot is the angular displacement sensor J1, which is placed at the rotating pair R12 of branch 1.
- the sensor that monitors the output of the robot's X-direction rotation is the angular displacement sensor J2, which is placed at the rotation pair R13 of branch 1
- the sensor that monitors the output of the robot's Y-direction rotation is the angular displacement sensor J3, which is placed at the rotation pair R13 of the branch 1.
- an angular displacement sensor J4 is set at the R side of the driving side C of the third branch 3 to realize real-time information feedback to the driving side.
- the sensor that monitors the output of the robot's Y-movement is the linear displacement sensor Z1, which is placed in The rear end of the base 6; a limit switch X1 is set on the upper end of the second bracket 62 of the base 6, and a limit switch X2 is set on the upper end of the second bracket 62 of the base 6; a forceful place is placed on the front end of the pedal 5
- the sensor L1 is used to monitor the force on the toe end, the force sensor L2 is placed at the middle of the pedal 5 to monitor the Y-direction traction force, and the force sensor L3 is placed at the rear end of the pedal 5 to monitor the heel force ; Through the arrangement of these sensors, it can not only ensure the intelligence of the robot, but also strengthen the overall safety and stability of the robot. On the basis of controllable cost, an electromechanical acquisition system can be used to more intuitively understand the physiological feedback of the trainer.
- the degree of cooperation between the feet and the robot is to install a fixed belt on the foot pedal, and place the foot in the fixed belt during use to ensure a stable fit of the foot position relative to the foot pedal.
- independent ankle joint traction movement or internal and external rotation movement during traction can be realized; by driving motor 2, dorso-toe flexion movement of ankle joint can be realized independently;
- driving the motor 3 the internal and external rotation of the ankle joint can be realized independently;
- driving motor 4 the internal and external rotation of the ankle joint can be realized independently; when the required multiple joint motion speeds and ranges are given, it can be controlled simultaneously Multiple corresponding motors to achieve corresponding movement.
- the movement of the mechanism is adjusted in real time through various motion feedback signals collected to achieve the best rehabilitation training effect. If active training is needed, unlock each drive motor so that the motors are all followers.
- the base 104 is fixed in the space rectangular coordinate system O 0 -X 0 Y 0 Z 0.
- the XY plane is perpendicular to the Z 0 axis.
- the X and Y axes of 104 are respectively parallel to the directions of the X 0 and Y 0 axes in the space rectangular coordinate system; in the moving coordinate system o 1 -xyz on the moving platform 105, the o 1 point is located on the R 3 and R 4 axes On the connection line, the z axis is perpendicular to the movable platform 105, the y axis is perpendicular to the line connecting the R 3 pair and the R 4 axis, and the x axis is parallel to the line connecting the R 3 pair and the R 4 axis.
- the symmetrical two-rotation and one-shift fully decoupled parallel mechanism of the present invention includes a first branch 101, a second branch 102, a third branch 103, a base 104, and a moving platform 105.
- the branch 102 and the third branch 103 are connected to the base 104 and the movable platform 105 respectively.
- the base 104 has a rectangular shape and includes a first slide rail 141, a second slide rail 142 and a bracket 143.
- the first slide rail 141 and the second slide rail 142 are symmetrically distributed on both sides of the bracket 143, and the bracket 143 is located on the base 104 On the center line of, the first slide rail 141 and the second slide rail 142 are symmetrical about the YZ plane, and the bracket 143 is located in the YZ plane and perpendicular to the base 104.
- the shape of the movable platform 105 is an equilateral triangle, and each vertex of the equilateral triangle has a support, which is a first support 151, a second support 152, and a third support 153.
- the first branch 101 and the second branch 102 are both PRR branches and consist of connecting rods, P pairs and R pairs.
- the third branch 103 is a CPU branch, consisting of connecting rods, C pairs, P pairs and U pairs.
- the first branch 101, the second branch 102 and the third branch 103 achieve complete decoupling between the movement pairs.
- the first end of the first link 111 is connected to the first slide rail 141 of the base 104 through the P pair, and the second end of the first link 111 and one end of the second link 112 are connected through the R pair. Connected, the other end of the second link 112 is connected with the first bracket 151 of the movable platform 105 through an R pair.
- one end of the first link 121 is connected to the second slide rail 142 of the base 104 through a P pair, and the other end of the first link 121 is connected to one end of the second link 122 through an R pair.
- the other end of the two connecting rod 122 is connected with the second bracket 152 of the movable platform 105 through an R pair.
- one end of the first link 131 and the bracket 143 of the base 104 are connected through a C pair, and the other end of the first link 131 and one end of the second link 132 are connected through a P pair.
- the other end of the second link 132 is connected to the third bracket 153 of the movable platform 105 through a U pair.
- the movement direction of P 1 pair in the first branch 101 is the same as the movement direction of P 2 pair in the second branch 102, both along the Y-axis direction and parallel to the plane of the base 104; the R 1 sub-axis of the first branch 101 is perpendicular to The base 104 is plane and passes through the o 1 point of the movable platform 105, the R 3 secondary axis of the first branch 101 is parallel to the base 104 plane and along the X axis direction; the R 2 of the second branch 102 and the R of the first branch 101 a common line, but also through the movable platform o 105 1:00, R R 102 of the second branch axis 4 of the first branch 101 of the three axes always collinear.
- the C pair in the third branch 103 has its axis perpendicular to the plane of the base 104, and the P 3 pair direction of the third branch 103 is always parallel to the plane of the base 104;
- the U pair of the third branch 103 consists of two rotation axes, one is always perpendicular to the axis of rotation of the plane of the base 104, the other rotation axis parallel to the base platform 104, and always parallel to the first branch of the three axes R 101 and the second branch axis 4 of R 102.
- the first branch 101 and the second branch 102 are symmetrically distributed on both sides of the moving platform 105.
- the first connecting rod 111 of the first branch 101 and the first connecting rod 121 of the second branch 102 are integral, and the integral structure and the base 104
- the distance between the upper first slide rail 141 and the second slide rail 142 is equal
- the second link 112 of the first branch 101 and the second link 122 of the second branch 102 are L-shaped
- the sum of the two long sides of the connecting rod 112 and the second connecting rod 122 of the second branch 102 is equal to the side length of the movable platform 105, and the side length of the movable platform 105 is larger than the first slide rail 141 and the second slide rail on the base 104
- the distance between 142 is
- the P 1 pair of the first branch 101 is provided with a drive motor, and its movement represents the output parameter of the first degree of freedom of the parallel mechanism;
- the second branch 102 is provided with a drive motor at the R 2 pair, and its movement represents the first degree of freedom of the parallel mechanism.
- the P pair included in the C pair of the third branch 103 is provided with a drive motor, and the amount of movement represents the output parameter of the second rotation degree of freedom of the parallel mechanism.
- the moving platform 105 of the parallel mechanism can realize two freedoms around the axis of the x 0 axis and the z 0 axis with o 1 as the center. Degree rotation and movement along the Y axis.
- the rotation feature of the movable platform 105 is only related to one rotation axis of the R 2 pair and the U pair and corresponds to each other, because the U pair of the third branch 103 consists of two rotation axes composition, wherein an axis of rotation parallel to the base platform 104, and is always parallel to the axis R 4 of the first branch 101 and second branch axis 3 R 102, and therefore, it can be said, the movable platform-rotation feature 105 It is only related to one rotation axis of R 2 pair and R 3 pair and one-to-one correspondence; the Y-direction movement feature of the movable platform 105 is only related to P 1 pair.
- a symmetrical two-turn-one-shift fully decoupled parallel mechanism can be abbreviated as 2-CPU-PRR mechanism, the first branch 101, second branch 102 and third branch 103 of the 2-CPU-PRR mechanism
- 2-CPU-PRR mechanism the first branch 101, second branch 102 and third branch 103 of the 2-CPU-PRR mechanism
- each input corresponds to a uniquely determined motion; therefore, the motion of the movable platform 105 relative to the base 104 does not need to control the motors on the three branches at the same time, which reduces the difficulty of control. It is necessary to drive the corresponding motor according to the required degree of freedom, thereby reducing the complexity of control, improving the accuracy of control, and increasing the practicability of the 2-CPU-PRR mechanism.
- the 2-CPU-PPR parallel mechanism of the present invention has obvious advantages such as fewer branch motion pairs, low installation requirements and accuracy, motion decoupling, simple control, etc.
- the two rotation centers coincide at one point and the mechanism has good stability, which can meet modern industrial design And many requirements for experimental verification platform construction.
- the 2-CPU-PRR mechanism of the present invention realizes the complete decoupling of the kinematics of the three-degree-of-freedom mechanism while retaining the advantages of the parallel mechanism, such as compact structure, small cumulative error, and smooth movement; the 2-CPU-PRR mechanism is symmetrical
- the structure of the first branch is the same as that of the second branch.
- the structure is simple, which reduces the processing difficulty, saves production cost and time.
- the installation and disassembly are easy to operate, and the related experimental verification platform is convenient;
- 2-CPU-PRR mechanism has fewer branches It is convenient to improve the accuracy of control, the requirements for installation accuracy are lower than other parallel mechanisms, and the movement space is large, which overcomes the disadvantages of traditional symmetrical parallel mechanisms such as complicated control and strong coupling.
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Abstract
一种三转一移解耦踝关节康复机器人，机身由对称的混联机构组成，其包含基座（6）、动平台（4）、脚踏板（5）以及连接基座和动平台的三个分支（1、2、3），三个分支中第一个分支（1）为PRR分支，第二个分支（2）和第三个分支（3）均为CPRR分支且关于基座底部对称分布，脚踏板与动平台串联连接形成局部分支，机构整体上为3R1T机构；另一方面，一种对称两转一移完全解耦并联机构，其包括基座（104）、动平台（105）以及三个分支（101、102、103），第一分支（101）和第二分支（102）均为PRR分支，第三分支（103）为CPU分支，三个分支通过运动副间实现完全解耦，上述机构在运动学上为解耦机构，通过控制不同的分支可独立的实现踝关节运动；机构具有对称性且分支运动副少便于提高控制的精确性，机构结构紧凑、稳定性好。
Description
本发明属于踝关节康复领域，特别涉及一种能实现三转一移的解耦踝关节康复机器人以及对称两转一移的完全解耦并联机构。
踝关节损伤是一种常见的骨关节损伤，人体的行走步态以及平衡性的微型调节枢纽就在于踝关节，踝关节的康复训练对患者来说极具意义。很多中风和偏瘫的患者也急需加强对踝关节的训练，为了减轻医护人员工作负担、提高训练效果，踝关节康复训练采用训练装置进行。现有技术中，训练装置大多采用串联机构实现工作台的运动，但往往结构强度不佳，运动自由度少；而采用并联机构的训练装置，强度得到了提高，但结构复杂，体积较大，难以封装。
经过对现有技术的检索发现，公开号为CN201620740097.4的中国专利公开了一种踝关节康复机器人，该机构基座和设置于所述基座上方的工作台，其中，所述工作台和所述基座之间并联设置有三个结构相同的连杆机构，分别为第一连杆机构、第二连杆机构和第三连杆机构，通过所述连杆机构的运动所述工作台可实现前后翻转、左右翻转和在水平面内转动。上述机器人，工作台可对踝关节进行背屈、跖屈、内翻、外翻、内旋、外旋训练，但是该机构在运动学上具有耦合性不便控制；公号为CN201510472613.X的中国专利公开了一种并联踝关节康复机器人及其控制方法，该机构包括基座，所述基座上插装有支撑架，该支撑架上活动卡装有调节机构，该调节机构包括主杆、前臂杆和腿部支撑杆，主杆前端与前臂杆装接，腿部支撑杆与主杆安装连接，前臂杆上装接有连杆，主杆与支撑架活动卡装；还包括调节机构和运动机构，采用气动肌肉或直线电机作为驱动器，驱动机构前端与调节机构中的连杆装接，驱动机构末端与运动机构装接，运动机构与主杆后端活动卡装。该发明公开的机器人可调节运动范围，以能够适应不同患者的使用，能够覆盖踝关节三个自由度的运动训练，但是不便于控制。
另一方面，并联机构具有高速、高刚度、承载能力大、动态响应好等特点,以并联机构作为主机构的并/混联构型装备已获得广泛应用。近10年来,并联机构的应用逐渐拓展至很多不需要空间六个自由度的操作(如对准、姿态定位、轴对称的机加工),此时使用合适的少自由度并联机构可以降低加工制造、标定、控制和维护等方面成本,少自由度并联机构已成为国 际并联机构学术界和工业界关注的热点，前沿发达国家尤其注重少自由度并联机构在航空、航天、汽车食品医药等行业中的自主创新、***设计和工程应用。解耦并联机构可以实现运动解耦，并且机构解耦程度越高其运动学、动力学分析越简单易解，可极大简化机器人的控制与轨迹规划问题。
经过对现有技术的检索发现，公开号为CN201510876263.3的中国专利公开了一种具有两转一移三自由度的对称解耦并联机构，该机构包括由平台、底座以及四个分别连接平台和底座的带有电机和丝杆机构的支撑柱，其中：四个支撑柱的末端与底座固定连接，支撑柱的丝杆机构与平台通过球铰链机构相连；球铰链机构与平台的固定点位置相互呈中心对称。该发明采用四个电机驱动，机构结构简单，能够保证加工精度，但是对控制的要求比较高，否则容易产生过约束而影响最终的运动输出，工作空间狭小。公开号为CN201520767012.7的中国专利公开了一种具有两转动一移动三自由度运动解耦并联机构，该机构该具有两转动一移动三自由度运动解耦并联机构包括动平台、静平台和连接在动、静平台之间的两条分支运动链，两条分支运动链中的一条为单开链，另一条为混合链，其中混合链由闭环结构串联一个转动副构成，闭环结构是由第一、第二子分支构成，单开链的第一圆柱副轴线平行于混合链的第六转动副轴线，并且二者均与混合链的第四移动副的中心线垂直，主动关节的输入运动与动平台的输出运动之间呈一对一的控制关系，具有优良的运动学解耦性。但是其中一条分支所具运动副数过多不便于控制，很难到达预期的效果。
发明内容
为实现踝关节康复所需要的三维转动自由度即踝关节运动中背屈/趾屈、内翻/外翻、内旋/外旋以及的牵引的需求，本发明设计了一种机构可以实现3R1T的串并混联机构，该机构结构简单对称分布，且在运动学上解耦，控制方便，还在相应的重要部位添加有智能监测感应装置，为使得踝关节康复机器人既能满足一般的康复需求，还能在成本和强度上得到优化；另一方面，为克服现有机构的弊端，解决解耦机构分支运动副多不便于控制的问题，提出结构功能各异的新型机构是机构学发展的基本要求。本发明的目的在于提供一种结构简单对称、易于控制、能够实现两个转动和一个移动，共三个自由度且完全解耦的2R1T对称解耦并联机器人机构。
本发明是这样实现的：
一种三转一移解耦踝关节康复机器人，其包括机身、驱动机构和监测***，所述机身为对称的混联机构，所述混联机构包含基座、动平台、将所述基座和所述动平台相连接的三个分支以及与所述动平台相串联的脚踏板；所述基座的底部设有两条关于Y轴对称分布且与Y 轴方向一致的滑动导轨，所述基座的底部设有两个关于Y轴对称的支架；所述动平台为框架结构，包括依次进行首尾连接的第一支架、第二支架、第三支架和第四支架；所述混联机构中的并联部分为2-CPRR-PRR并联机构，所述并联机构为解耦的两转动一移动并联机构，连接所述基座和所述动平台的三个分支中第一分支为PRR分支，第二分支和第三分支均为CPRR分支且初始位姿关于YOZ平面对称分布；所述第一分支包括第一连杆和第二连杆，所述第一连杆的第一端与所述滑动导轨通过移动副连接，所述第一连杆的第二端与所述第二连杆的第一端通过轴线垂直于所述基座底部的转动副连接，所述第二连杆的第二端与所述动平台的第一支架通过轴线平行于动平台x轴的转动副连接；所述第二分支包括第一连杆、第二连杆和第三连杆，所述第一连杆的第一端与所述基座的第二支架通过轴线垂直于基座的圆柱副连接，所述第一连杆的第二端与所述第二连杆的第一端通过平行于所述基座底部的移动副连接，所述第二连杆的第二端通过轴线垂直于基座底部的转动副与所述第三连杆的第一端连接，所述第三连杆的第二端与所述动平台的第二支架通过轴线平行于动平台x轴的转动副连接；所述第三分支包括第一连杆、第二连杆和第三连杆，所述第一连杆的第一端与所述基座的第三支架通过轴线垂直于基座的圆柱副连接，所述第一连杆的第二端与所述第二连杆的第一端通过平行于基座底部的移动副连接，所述第二连杆的第二端通过轴线垂直于基座底部的转动副与所述第三连杆的第一端连接，所述第三连杆的第二端与所述动平台的第三支架通过轴线平行于动平台x轴的转动副连接；所述混联机构的串联部分包括所述动平台和所述脚踏板，所述脚踏板与脚踏板连杆的第一端固连在一起，所述脚踏板连杆的第二端与所述动平台的第四支架通过轴线经过动平台上y轴的转动副连接在一起。
优选地，所述驱动机构包括四个驱动电机，分别实现康复机器人的三个转动自由度和一个移动自由度，所述第一分支的第一移动副处设有驱动电机，其运动量表示该机构第一移动自由度的输出参数，所述第二分支的第一圆柱副中所包含的P副处设有驱动电机，其运动量表示该机构第一转动自由度的输出参数，所述第三分支的第一圆柱副的R副处设有驱动电机，其运动量表示该机构第二转动自由度的输出参数，所述脚踏板上固连连杆与所述动平台第四支架连接的转动副处设有驱动电机，其运动量表示该机构第三转动自由度的输出参数。
优选地，所述监测***包括角位移传感器、直线位移传感器、限位开关和力传感器，角位移传感器安装在驱动副为转动副的位置处，直线位移传感器安装在驱动副为移动副的位置处，限位开关分布在各驱动副极限位置处，力传感器安装在所述脚踏板上，在所述脚踏板上设有转接组件，能安装加热装置或按摩装置，以丰富康复机器人的功能。
优选地，所述踝关节康复机器人在运动学上为解耦机构，通过控制不同的分支可独立的实现三转动和一移动，对应实现踝关节运动中背屈/趾屈、内翻/外翻、内旋/外旋以及牵引运 动。
优选地，机器人的三个转动中心重合于一点，连接脚踏板的连杆长度可调，通过调整连杆长度实现不同脚踝高度的人在康复训练过程中踝关节中心和机器人实际转动中心重合，以达到更好的康复效果。
另一方面，本发明还提供一种对称两转一移完全解耦并联机构，其包括基座、动平台、以及连接所述基座和所述动平台的第一分支、第二分支和第三分支。所述基座包括两个平行的滑轨和一个支架，所述动平台具有正三角形状，所述动平台的三个顶点处分别设有第一支架、第二支架和第三支架，所述第一分支和所述第二分支均为PRR分支，包括连杆、移动副P副和转动副R副；所述第三分支为CPU分支，包括连杆、圆柱副C副、移动副P副和虎克铰U副，所述第一分支、第二分支和第三分支通过运动副间实现完全解耦。所述第一分支和所述第二分支结构相同，两个分支都包括第一连杆和第二连杆，所述第一分支的第一连杆的第一端与所述基座的第一滑轨连接形成P
1副，所述第二分支的第一连杆的第一端与所述基座的第二滑轨连接形成P
2副，所述第一分支中的P
1副的移动方向与所述第二分支中的P
2副的移动方向相同，均沿着所述基座上定坐标系中的Y轴方向，所述第一分支的第一连杆的第二端与所述第一分支的第二连杆的第一端连接形成R
1副，所述R
1副轴线方向与所述基座上定坐标系中的Z轴方向相同并经过动平台o
1点，所述第二分支的第一连杆的第二端与所述第二分支的第二连杆的第一端连接形成R
2副，所述第二分支中的R
2副与所述第一分支中的R
1副共线，所述第一分支的第二连杆的第二端与所述动平台的第一支架连接形成R
3副，所述第二分支的第二连杆的第二端与所述动平台的第二支架连接形成R
4副，所述第二分支中的R
4副的轴线与所述第一分支中的R
3副的轴线始终共线，并始终经过动平台上的o
1点。所述第三分支包括第三连杆和第四连杆，所述第三连杆的第一端与所述基座的支架通过C副连接，所述圆柱副的轴线始终垂直于所述基座平面，所述第三连杆的第二端与所述第四连杆的第一端通过P
3副连接，所述P
3副的方向始终平行于所述基座平面，所述第四连杆的第二端通过U副与所述动平台的第三支架连接，所述第三分支中的U副由两个转动副组成具有两个方向互相垂直的转动轴线，所述U副的第一个转动轴线始终垂直于所述基座的平面，所述U副的第二个转动轴线平行于所述基座平台，且始终与所述第一分支中的R
3副轴线和所述第二分支中的R
4副轴线平行。
优选地，所述第一分支和所述第二分支对称分布于所述动平台两侧，所述第一分支的第一连杆和所述第二分支的第一连杆为一个整体，所述整体的宽度和所述基座上两个滑轨之间的距离相等，所述第一分支的第二连杆和所述第二分支的第二连杆为L形，所述动平台的边长大于所述基座上两个滑轨之间的距离。
优选地，所述第一分支的移动副1处设有驱动电机，其运动量表示该并联机构第一移动自由度的输出参数；所述第二分支的转动副2处设有驱动电机，其运动量表示该并联机构第一转动自由度的输出参数；所述第三分支的圆柱副C副中所包含的P副处设有驱动电机，其运动量表示该并联机构第二转动自由度的输出参数。
优选地，通过分别设在所述三个分支上的三个驱动电机，所述并联机构的动平台可以实现以动平台o
1点为中心绕动平台上坐标系中x轴和z轴的转动以及沿定平台上定坐标系中Y轴方向的移动。
与现有技术相比，本发明具有以下有益效果：
(1)机器人机构分支所包含运动副数目少运动副简单，便于控制；
(2)机器人机构解耦，每一个输入量都对应唯一确定的运动；
(3)机器人机构分支对称分布，有两个分支结构一样可节约制作成本和时间；
(4)机构安装方便，踝关节可活动空间大，活动度多，能满足所有踝关节运动要求；
(5)机器人三维转动中心可通过调节连杆长度与不同人的实际踝关节转动中心重合；
(6)机器人的三维转动中心在动平台固定位置，优选的，实际操作时脚的重心一直落在第一分支两滑动轨道之间，可保运动稳定性和机器人刚度；
(7)机器人不仅能适用于医疗康复，在脚踏板上安装其他辅助设施可实现更多功能需求，还能用于居家保健。
(8)本发明的对称两转一移完全解耦并联机构在保留了并联机构强度高、结构紧凑、稳定性好等优点的基础上，实现了空间x和z轴方向两转动和沿Y轴的平行于基座的一移动三自由度运动学完全解耦，每一个输入量都对应唯一确定的运动；机构具有对称性，有两个分支结构一样可节约制作成本和时间，且分支所包含运动副数目少，运动副简单，便于提高控制的精确性，减少控制的复杂性，对安装精度要求相比于其他并联机构也较低，机构安装方便，活动空间大，克服了传统对称并联机构控制复杂，强耦合性等缺点。
图1为发明的康复机器人的所有运动副位置的示意图；
图2为本发明的康复机器人的分支1构件的示意图；
图3为本发明的康复机器人的分支2、3构件的示意图；
图4为本发明的康复机器人的串联部分构件的示意图；
图5为本发明的康复机器人的监测传感器的分布的示意图；
图6为本发明第二实施例的对称两转一移完全解耦并联机构整体的结构示意图；以及
图7为本发明第二实施例的对称两转一移完全解耦并联机构的第三分支的结构示意图。
附图标记：
第一实施例中：P11-分支1第一移动副、R12-分支1第二转动副、R13-分支1第三转动副、C21-分支2第一圆柱副、P22-分支2第二移动副、R23-分支2第三转动副、R24-分支2第四转动副、C31-分支3第一圆柱副、P32-分支3第二移动副、R33-分支3第三转动副、R34-分支3第四转动副、R51-串联转动副；
1-第一分支、11-第一连杆、12-第二连杆；
2-第二分支、21-第一连杆、22-第二连杆、23-第三连杆、3-第三分支、31-第一连杆、32-第二连杆、33-第三连杆；6-基座、61-滑动导轨、62-第二支架、63-第三支架；
4-动平台、41-第一支架、42-第二支架、43-第三支架、44-第四支架、5-脚踏板、51-脚踏板连杆；
第二实施例中：第一分支101，第一连杆111，第二连杆112，第二分支102，第一连杆121，第二连杆122，第三分支103，第一连杆131，第二连杆132，基座104，第一滑轨141，第二滑轨142，支架143，动平台105，第一支架151，第二支架152，第三支架153，第一移动副P
1，第二移动副P
2，第三移动副P
3，圆柱副C，第一转动副R
1，第二转动副R
2，第三转动副R
3，第四转动副R
4，虎克铰副U。
以下将参考附图详细说明本发明的示例性实施例、特征和性能方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
第一实施例
在图1所示机器人整体结构示意图中，机身由对称的混联机构组成，包含基座6、动平台4、连接基座6和动平台4的三个分支1、2、3以及串联在动平台4上的脚踏板5；混联机构中并联部分为2-CPRR-PRR并联机构，其中，C表示圆柱副、P表示移动副、R表示一个转动副，且圆柱副为一个移动副和一个转动副的组合，2-CPRR表示含有两组由圆柱副、移动副、转动副和转动副依次按顺序连接的分支，PRR表示一个由移动副、转动副和转动副按顺序连接组成的分支，三个分支组合为一个并联机构，连接基座6和动平台4的三个分支中第 一个分支1为PRR分支，第二个分支和第三个分支2、3均为CPRR分支且对称分布，可保证机构运动的两向同性且安装便利；基座6底部布置有两条沿Y轴方向的滑动导轨61并于Y轴两侧对称分布，增加机构运行的稳定性，基座6底部关于Y轴两边对称分别设有两个支架62和63，分别用于与分支二和分支三连接；动平台4为一框架，动平台的第一、二、三、四支架均布置在框架上，见图4中第一支架41、第二支架42、第三支架43、第四支架44，分别与第一分支1、第二分支2、第三分支3和脚踏板连杆51相连；
如图2所示，三个分支中第一个分支1为PRR分支，第一个分支1中第一连杆11一端与基座6的滑动导轨61通过移动副P11连接，另一端与第一个分支1的第二连杆12的一端通过轴线垂直于基座底部的转动副R12连接，第一分支1的第二连杆12的一端同时与在动平台两端对称分布的动平台4第一支架41连接形成转动副，该转动副R13轴线与第一分支1的第二个转动副R12轴线交于三维转动中心o
1；
如图3所示，三个分支中第二个分支2和第三个分支3均为CPRR分支，优选的，两个分支初始位置关于YOZ平面对称分布，优选的，第二个分支2的第一连杆21一端与基座6的第二支架62通过轴线垂直于基座6的圆柱副C21连接，另一端与第二分支2的第二连杆22的一端通过平行于基座6底部的移动副P22连接，第二分支2的第二连杆22的另一端通过轴线垂直于基座6底部的转动副R23与第二分支2的第三连杆23的一端连接，最后，第二分支2的第三连杆23的另一端与动平台4的第二支架42通过轴线平行于x轴的转动副R24连接；
第三个分支3的第一连杆31一端与基座的第三支架63通过轴线垂直于基座6的圆柱副C31副连接，另一端与第三分支3的第二连杆32的一端通过平行于基座6底部的移动副P32连接，第三分支3的第二连杆32的另一端通过轴线垂直于基座6底部的转动副R33与第三个分支3的第三连杆32的一端连接，最后，第三个分支3的第三连杆33的另一端与动平台4的第三支架43通过轴线平行于x轴的转动副R34连接；优选的，第二分支2和第三分支3结构一样且对称分布在动平台4两侧，可保证动平台4在x方向上性能的统一性；
如图4所示，混联机构的串联部分包括动平台4和脚踏板5，脚踏板5与其前后两端的脚踏板连杆51的一端固连在一起，脚踏板连杆51的另一端与动平台4的第四支架44通过轴线经过y轴的转动副R51连接在一起，优选的，在动平台4中串联一个可绕y轴方向转动的脚踏板5使得以脚踏板为末端执行器的踝关节康复机器人整体上为3R1T机构，优选的，机器人三个转动轴轴线交于一点O1，通过调节连接脚踏板5与动平台4的脚踏板连杆51的长度，可调节脚踏板5与转动中心O1的距离以适应踝关节高度不同的人，使得实际踝关节中心与康复机器人实际转动中心重合以达到更好的运动训练效果；优选的，脚踏板5在动平台 4框架里面且处于框架下方；优选的，在运动过程中保证脚不会被动平台4框架及其他构件所干涉，动平台4框架的大小能适合90％以上的人的脚的尺寸，针对不同大小的脚所对应的安全保护设施也能进行相应的调整到最合适的状态，优选的，脚踏板5上设有转接组件，能安装相应的固定保护设施使得机构更加可靠和舒适；也能安装加热装置或按摩装置，以丰富康复机器人的功能；此外，根据不同人群需要，可在脚踏板上添加其他相应结构以丰富整个机器人的功能。
踝关节康复机器人在运动学上为解耦机构,所谓解耦是指输入与输出之间存在一一对应的关系，踝关节康复机器人为一部分解耦机构并非完全解耦机构，但是仍然可以称之为解耦机构，通过控制不同的分支可分别的实现三转动和一移动，对应实现踝关节运动中背屈/趾屈、内翻/外翻、内旋/外旋、牵引运动；优选的，第一分支1的第一移动副P11处设有驱动电机1，其运动量表示该机构第一移动自由度的输出参数；实现踝关节康复的牵引运动；第二分支2的第一圆柱副C21中所包含的P副处设有驱动电机2，其运动量表示该机构第一转动自由度的输出参数，实现踝关节康复的背屈/趾屈运动；第三分支3的第一圆柱副C31所含的R副处设有驱动电机3，其运动量表示该机构第二转动自由度的输出参数，实现踝关节康复的内旋/外旋运动；将脚踏板5上固连脚踏板连杆51与动平台4第四支架44连接的转动副R51处设有驱动电机4，其运动量表示该机构第三转动自由度的输出参数，实现踝关节康复的内翻/外翻运动；
第一分支1的第一连杆11的一端同时与在基座6上对称分布的两个滑动导轨61连接形成移动副，优选的，驱动该移动副的只有一个驱动电机1，可通过电机的正反转实现整个机构沿Y轴正负两个方向的移动，结构提高了并联机构的刚度，还增强了运动稳定性。第一分支1的第二连杆12的一端同时与在动平台4两端对称分布的动平台第一支架41连接形成转动副，该转动副轴线与第一分支1的第二个转动副R12轴线交于三维转动中心，机构的第一分支1的第一个移动副P11可不采取滑轨的形式，只要能实现分支1的Y向移动，驱动副可采用轮式或者履带式，由此可减小机器人整体结构尺寸易于封装。
第二分支2中的第一圆柱副中的P副作为驱动副时，圆柱副中的R副不受该驱动电机2的影响作为被动运动副，优选的，第三分支3中的第一圆柱副中的R副作为驱动副时，圆柱副中的P副不受该驱动电机3的影响作为被动运动副，优选的，由于第一和第二个分支一样且关于YZ平面对称分布，驱动电机2和驱动电机3的位置可以在第二、三分支间进行互换，但是必须保证一个分支只有一个驱动电机且驱动的运动副分别为圆柱副中的P副和C副；将脚踏板上固结的连杆与动平台第四支架连接的转动副处设有的驱动电机4优先布置在动平台4分支支架较小的一端。
机器人监测***主要包括角位移传感器、直线位移传感器、限位开关和力传感器，如图5所示，监测机器人Z向转动输出量的传感器为角位移传感器J1，放置在分支一的转动副R12处，监测机器人X向转动输出量的传感器为角位移传感器J2，放置在分支一的转动副R13处，监测机器人Y向转动输出量的传感器为角位移传感器J3，放置在分支一的转动副R13处；另外，在第三分支3的驱动副C副中的R副处设置角位移传感器J4，实现对驱动副的实时信息反馈，监测机器人Y向移动输出量的传感器为直线位移传感器Z1，放置在基座6的后端；在基座6的第二支架62的上端设置有限位开关X1，在基座6的第二支架62的上端设置有限位开关X2；在脚踏板5的前端放置有力传感器L1用于监测趾端受力，在脚踏板5的中端放置有力传感器L2用于监测Y向牵引受力，在脚踏板5的后端放置有力传感器L3用于监测脚跟端受力；通过这些传感器的布置，既能保证机器人的信息智能化，还加强了机器人的整体安全稳定性。在成本可控的基础上，可采用机电采集***以更加直观的了解训练者的生理反馈。
本发明第一实施例的具体使用过程如下：
在使用机器人进行康复训练之前，根据不同人踝关节高度对脚踏板连杆长度进行调整以达到人体实际踝关节转动中心和机器人实际转动中心即动平台o
1点重合，为了保证整个运动过程中脚部与机器人的配合程度，在脚踏板上安装固定带，在使用时将脚放在固定带内以保证脚的位置相对脚踏板稳定配合。
在使用过程中，通过驱动电机1并配合驱动电机3，可实现独立的踝关节牵引运动或者牵引过程中伴随这内外旋运动；通过驱动电机2，可独立的实现踝关节的背趾屈运动；通过驱动电机3，可独立的实现踝关节的内外旋运动；通过驱动电机4，可独立地实现踝关节的内外翻运动；当给定所需的多种关节运动速度及范围，可通过同时控制多个相应的电机以实现相应的运动。与此同时，通过采集的各种运动反馈信号对机构的运动进行实时调整以达到最好的康复训练效果。如需进行主动训练，将各个驱动电机解除锁死使得电机均为随动件即可。
第二实施例
如图6所示，基座104固定于空间直角坐标系O
0-X
0Y
0Z
0中，其中基座104上的定坐标系O-XYZ中，XY平面垂直于Z
0轴，基座104的X和Y轴分别和空间直角坐标系中的X
0轴和Y
0轴方向平行；动平台105上的动坐标系o
1-xyz中，o
1点位于R
3副和R
4副轴线的连线上，z轴垂直于动平台105，y轴垂直于R
3副和R
4副轴线的连线，x轴平行于R
3副和R
4副轴线的连线。
本发明对称两转一移完全解耦并联机构，如图1所示，包括第一分支101、第二分支102、第三分支103、基座104和动平台105，第一分支101、第二分支102和第三分支103分别连 接基座104和动平台105。基座104的外形为矩形，包括第一滑轨141、第二滑轨142和支架143，第一滑轨141和第二滑轨142对称分布于支架143的两侧，支架143位于基座104的中心线上，第一滑轨141、第二滑轨142关于YZ平面对称，支架143位于YZ平面内且垂直于基座104。动平台105的外形为正三角形，正三角形的各个顶点各有一个支架，分别为第一支架151、第二支架152和第三支架153。
第一分支101和第二分支102均为PRR分支，由连杆、P副和R副组成，第三分支103为CPU分支，由连杆、C副、P副和U副组成，第一分支101、第二分支102和第三分支103通过运动副间实现完全解耦。
第一分支101中，第一连杆111的第一端通过P副与基座104的第一滑轨141连接，第一连杆111的第二端与第二连杆112的一端通过R副连接，第二连杆112的另一端与动平台105的第一支架151通过R副连接。
第二分支102中，第一连杆121的一端通过P副与基座104的第二滑轨142连接，第一连杆121的另一端与第二连杆122的一端通过R副连接，第二连杆122的另一端与动平台105的第二支架152通过R副连接。
如图7所示，第三分支103中，第一连杆131的一端与基座104的支架143通过C副连接，第一连杆131的另一端与第二连杆132的一端通过P副连接，第二连杆132的另一端通过U副与动平台105的第三支架153连接。
第一分支101中P
1副的移动方向与第二分支102中P
2副的移动方向相同，均沿着Y轴方向且平行于基座104平面；第一分支101的R
1副轴线垂直于基座104平面并经过动平台105的o
1点，第一分支101的R
3副轴线平行于基座104平面并沿X轴方向；第二分支102的R
2副与第一分支101的R
1副共线，也经过动平台105的o
1点，第二分支102的R
4副轴线与第一分支101的R
3副轴线始终共线。
第三分支103中的C副，其轴线垂直于基座104平面，第三分支103的P
3副方向始终平行于基座104平面；第三分支103的U副由两个转动轴线组成，一个转动轴线始终垂直于基座104平面，另一个转动轴线平行于基座104平台，且始终于第一分支101的R
3副轴线和第二分支102的R
4副轴线平行。
第一分支101和第二分支102对称分布于动平台105两侧，第一分支101的第一连杆111和第二分支102的第一连杆121为一个整体，该整体结构和基座104上第一滑轨141和第二滑轨142之间的距离相等，第一分支101的第二连杆112和第二分支102的第二连杆122为L形，第一分支101的第二连杆112和第二分支102的第二连杆122的两个长边之和等于动平台105的边长，动平台105的边长大于基座104上第一滑轨141和第二滑轨142之间的距 离。
第一分支101的P
1副处设有驱动电机，其运动量表示该并联机构第一移动自由度的输出参数；第二分支102的R
2副处设有驱动电机，其运动量表示该并联机构第一转动自由度的输出参数；第三分支103的C副中所包含的P副处设有驱动电机，其运动量表示该并联机构第二转动自由度的输出参数。
通过分别设在第一分支101、第二分支102和第三分支103的三个驱动电机，并联机构的动平台105可以实现以o
1点为中心绕x
0轴和z
0轴轴线的两自由度转动和沿Y轴方向的移动。且此三自由度运动是完全解耦的，即动平台105的转动特征仅与R
2副和U副的一个转动轴线有关并一一对应，由于第三分支103的U副由两个转动轴线组成，其中，一个转动轴线平行于基座104平台，且始终于第一分支101的R
3副轴线和第二分支102的R
4副轴线平行，因此，也可以说，动平台105的转动特征仅与R
2副和R
3副的一个转动轴线有关并一一对应；动平台105的Y向移动特征仅与P
1副有关。
以下结合具体应用实施例对本发明一种对称两转一移完全解耦并联机构做进一步的描述：
根据本发明的结构形式，一种对称两转一移完全解耦并联机构可以简写为2-CPU-PRR机构，2-CPU-PRR机构的第一分支101、第二分支102和第三分支103通过运动副间实现完全解耦，每一个输入量都对应唯一确定的运动；因此，动平台105相对于基座104的运动不需要同时控制三个分支上的电机，减少控制的难度，其只需要根据需要的自由度，驱动相应的电机，从而减少控制的复杂度，提高控制的精确性，增加2-CPU-PRR机构的实用性。
为了获得2-CPU-PRR机构中动平台105相对于基座104的沿Y向的水平移动，只需要驱动第一分支101上P
1副的驱动电机，就可以得到相应自由度的实现，而不需要同时对三个分支的驱动电机进行同时驱动。
为了获得2-CPU-PRR机构中动平台105相对于基座104绕X轴轴线的转动自由度，只需要驱动第三分支103上C副中所包含P副处的驱动电机，就可以得到相应自由度的实现，而不需要同时对三个分支的驱动电机进行同时驱动。
为了获得2-CPU-PRR机构中动平台105相对于基座104绕Z轴轴线的转动自由度，只需要驱动第二分支102上R
2副的驱动电机，就可以得到相应自由度的实现，而不需要同时对三个分支的驱动电机进行同时驱动。
本发明的2-CPU-PPR并联机构具有明显的分支运动副少，安装要求和精度低，运动解耦，控制简单等优势，两个转动中心重合于一点机构稳定性好，可以满足现代工业设计以及实验 验证平台搭建的诸多需求。
本发明的2-CPU-PRR机构在保留了并联机构结构紧凑、累积误差小、运动平稳等优点的基础上，实现了三自由度机构运动学的完全解耦；2-CPU-PRR机构具有对称性，第一分支和第二分支结构一样，结构简单，减少了加工难度，节约制作成本和时间，安装和拆卸便于操作，便于进行相关的实验验证平台；2-CPU-PRR机构分支运动副少便于提高控制的精确性，对安装精度要求相比于其他并联机构也较低，活动空间大，克服了传统对称并联机构控制复杂，强耦合性等缺点。
最后应说明的是：以上所述的各实施例仅用于说明本发明的技术方案，而非对其限制：尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或着对其中部分或全部技术特征进行等同替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (9)
- 一种三转一移解耦踝关节康复机器人，其包括机身、驱动机构和监测***，其特征在于，所述机身为对称的混联机构，所述混联机构包含基座、动平台、将所述基座和所述动平台相连接的三个分支以及与所述动平台相串联的脚踏板；所述基座的底部设有两条关于Y轴对称分布且与Y轴方向一致的滑动导轨，所述基座的底部设有两个关于Y轴对称的支架；所述动平台为框架结构，包括依次进行首尾连接的第一支架、第二支架、第三支架和第四支架；所述混联机构中的并联部分为2-CPRR-PRR并联机构，所述并联机构为解耦的两转动一移动并联机构，连接所述基座和所述动平台的三个分支中第一分支为PRR分支，第二分支和第三分支均为CPRR分支且初始位姿关于YOZ平面对称分布；所述第一分支包括第一连杆和第二连杆，所述第一连杆的第一端与所述滑动导轨通过移动副连接，所述第一连杆的第二端与所述第二连杆的第一端通过轴线垂直于所述基座底部的转动副连接，所述第二连杆的第二端与所述动平台的第一支架通过轴线平行于动平台x轴的转动副连接；所述第二分支包括第一连杆、第二连杆和第三连杆，所述第一连杆的第一端与所述基座的第二支架通过轴线垂直于基座的圆柱副连接，所述第一连杆的第二端与所述第二连杆的第一端通过平行于所述基座底部的移动副连接，所述第二连杆的第二端通过轴线垂直于基座底部的转动副与所述第三连杆的第一端连接，所述第三连杆的第二端与所述动平台的第二支架通过轴线平行于动平台x轴的转动副连接；所述第三分支包括第一连杆、第二连杆和第三连杆，所述第一连杆的第一端与所述基座的第三支架通过轴线垂直于基座的圆柱副连接，所述第一连杆的第二端与所述第二连杆的第一端通过平行于所述基座底部的移动副连接，所述第二连杆的第二端通过轴线垂直于基座底部的转动副与所述第三连杆的第一端连接，所述第三连杆的第二端与所述动平台的第三支架通过轴线平行于动平台x轴的转动副连接；以及所述混联机构的串联部分包括所述动平台和所述脚踏板，所述脚踏板与脚踏板连杆的第一端固连在一起，所述脚踏板连杆的第二端与所述动平台的第四支架通过轴线经过动平台上y轴的转动副连接在一起。
- 根据权利要求1所述的三转一移解耦踝关节康复机器人，其特征在于，所述驱动机构包括四个驱动电机，分别实现康复机器人的三个转动自由度和一个移动自由度，所述第一分支的第一移动副处设有驱动电机，其运动量表示该机构第一移动自由度的输出参数，所述第 二分支的第一圆柱副中所包含的P副处设有驱动电机，其运动量表示该机构第一转动自由度的输出参数，所述第三分支的第一圆柱副的R副处设有驱动电机，其运动量表示该机构第二转动自由度的输出参数，所述脚踏板上固连连杆与所述动平台第四支架连接的转动副处设有驱动电机，其运动量表示该机构第三转动自由度的输出参数。
- 根据权利要求2所述的三转一移解耦踝关节康复机器人，其特征在于，所述监测***包括角位移传感器、直线位移传感器、限位开关和力传感器，所述角位移传感器安装在驱动副为转动副的位置处，所述直线位移传感器安装在驱动副为移动副的位置处，所述限位开关分布在各驱动副极限位置处，所述力传感器安装在所述脚踏板上，所述脚踏板上设有转接组件，能安装加热装置或按摩装置，以丰富康复机器人的功能。
- 根据权利要求3所述的三转一移解耦踝关节康复机器人，其特征在于，所述踝关节康复机器人在运动学上为解耦机构，通过控制不同的分支可独立得实现三个转动和一个移动，对应实现踝关节运动中背屈/趾屈、内翻/外翻、内旋/外旋以及牵引运动。
- 根据权利要求1所述的三转一移解耦踝关节康复机器人，其特征在于，机器人的三个转动中心重合于一点，连接脚踏板的连杆长度可调，通过调整连杆长度实现不同脚踝高度的人在康复训练过程中踝关节中心和机器人实际转动中心重合，以达到更好的康复效果。
- 一种对称两转一移完全解耦并联机构，其包括基座、动平台、以及连接所述基座和所述动平台的第一分支、第二分支和第三分支，其特征在于，所述基座包括两个平行的滑轨和一个支架，所述动平台具有正三角形状，所述动平台的三个顶点处分别设有第一支架、第二支架和第三支架，所述第一分支和所述第二分支均为PRR分支，包括连杆、移动副P副和转动副R副；所述第三分支为CPU分支，包括连杆、圆柱副C副、移动副P副和虎克铰U副，所述第一分支、第二分支和第三分支通过运动副间实现完全解耦；所述第一分支和所述第二分支分别包括第一连杆和第二连杆，所述第一分支的第一连杆的第一端与所述基座的第一滑轨连接形成P 1副，所述第二分支的第一连杆的第一端与所述基座的第二滑轨连接形成P 2副，所述第一分支中的P 1副的移动方向与所述第二分支中的P 2副的移动方向相同，均沿着所述基座上定坐标系中的Y轴方向，所述第一分支的第一连杆的第二端与所述第一分支的第二连杆的第一端连接形成R 1副，所述R 1副轴线方向与所述基座上定坐标系中的Z轴方向相同并经过动平台o 1点，所述第二分支的第一连杆的第二端与所述第二分支的第二连杆的第一端连接形成R 2副，所述第二分支中的R 2副与所述第一分支中的R 1副共线，所述第一分支的第二连杆的第二端与所述动平台的第一支架连接形成R 3副，所述第二分支的第二连杆的第二端与所述动平台的第二支架连接形成R 4副，所述第二分支中的R 4 副的轴线与所述第一分支中的R 3副的轴线始终共线，并始终经过动平台上的o 1点；以及所述第三分支包括第三连杆和第四连杆，所述第三连杆的第一端与所述基座的支架通过C副连接，所述圆柱副的轴线始终垂直于所述基座平面，所述第三连杆的第二端与所述第四连杆的第一端通过P 3副连接，所述P 3副的方向始终平行于所述基座平面，所述第四连杆的第二端通过U副与所述动平台的第三支架连接，所述第三分支中的U副由两个转动副组成具有两个方向互相垂直的转动轴线，所述U副的第一个转动轴线始终垂直于所述基座的平面，所述U副的第二个转动轴线平行于所述基座平台，且始终与所述第一分支中的R 3副轴线和所述第二分支中的R 4副轴线平行。
- 根据权利要求6所述的对称两转一移完全解耦并联机构，其特征在于，所述第一分支和所述第二分支对称分布于所述动平台两侧，所述第一分支的第一连杆和所述第二分支的第一连杆为一个整体，所述整体的宽度和所述基座上两个滑轨之间的距离相等，所述第一分支的第二连杆和所述第二分支的第二连杆为L形，所述动平台的边长大于所述基座上两个滑轨之间的距离。
- 根据权利要求7所述的对称两转一移完全解耦并联机构，其特征在于，所述第一分支的移动副1处设有驱动电机，其运动量表示该并联机构第一移动自由度的输出参数；所述第二分支的转动副2处设有驱动电机，其运动量表示该并联机构第一转动自由度的输出参数；所述第三分支的圆柱副C副中所包含的P副处设有驱动电机，其运动量表示该并联机构第二转动自由度的输出参数。
- 根据权利要求8所述的对称两转一移完全解耦并联机构，其特征在于，通过分别设在所述三个分支上的三个驱动电机，所述并联机构的动平台可以实现以动平台o 1点为中心绕动平台上坐标系中x轴和z轴的转动以及沿定平台上定坐标系中Y轴方向的移动。
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