The Statics Analysis of 3-RSS/S Parallel Ankle Rehabilitation Robot

摘要：

　　The statics of parallel mechanism is analysed with component vector theory,static equilibrium equations were established on the moving platform,moving platform,crank of 3-RSS/S parallel Ankle Rehabilitation Robot by this method,mathematical relationships between the suffered external torque of platform and the output torque of three crank are obtained,and force Jacobian matrix of the mathematical model as the force feedback control of the Ankle Rehabilitation Robot.

关键词： parallel robot component vector theory force Jacobian matrix statics

作者: Guang-Da Lu Ai-Mei Zhang Li Zhao Shi-Gang Cui

作者单位: Tianjin Key Laboratory of Information Sensing and Intelligent Control, Tianjin University of Technol Tianjin ALSTOM Hydro. Co.,LTD.,Tianjin, China

会议类型: 国际会议

会议名称: 第16届机电一体化技术国际会议

会议地点: 天津

会议语种:英文

页码: 410-414

在线出版日期: 2012-10-16（万方平台首次上网日期，不代表论文的发表时间）