3-SPS/S踝关节并联康复机构控制系统仿真

TP242%TP391.9; 踝关节是人体下肢关节中较易损伤的部位,针对其结构特点,搭建了基于3-SPS/S的并联康复机构并对其进行运动学反解.进而以3-SPS/S踝关节并联康复机构为研究对象,利用Matlab里的SimMechanics工具箱建立机构仿真平台,给出动平台规划运动轨迹并生成机构驱动杆输入运动信号,对机构模型进行仿真分析并给出3D效果图.结果表明,该方法为并联康复机构控制策略的研究提供了安全高效可视的仿真平台,便于展开针对并联康复机构特点的各种控制策略的研究....

Full description

Saved in:
Bibliographic Details
Published in东北大学学报（自然科学版） Vol. 40; no. 3; pp. 310 - 333
Main Authors 王海芳, 李新庆, 乔湘洋, 祁超飞
Format Journal Article
LanguageChinese
Published 东北大学秦皇岛分校 控制工程学院,河北 秦皇岛,066004 01.03.2019
Subjects
仿真
SimMechanics
控制系统
踝关节
康复
并联机构
Online AccessGet full text

Cover

Abstract TP242%TP391.9; 踝关节是人体下肢关节中较易损伤的部位,针对其结构特点,搭建了基于3-SPS/S的并联康复机构并对其进行运动学反解.进而以3-SPS/S踝关节并联康复机构为研究对象,利用Matlab里的SimMechanics工具箱建立机构仿真平台,给出动平台规划运动轨迹并生成机构驱动杆输入运动信号,对机构模型进行仿真分析并给出3D效果图.结果表明,该方法为并联康复机构控制策略的研究提供了安全高效可视的仿真平台,便于展开针对并联康复机构特点的各种控制策略的研究.
AbstractList TP242%TP391.9; 踝关节是人体下肢关节中较易损伤的部位,针对其结构特点,搭建了基于3-SPS/S的并联康复机构并对其进行运动学反解.进而以3-SPS/S踝关节并联康复机构为研究对象,利用Matlab里的SimMechanics工具箱建立机构仿真平台,给出动平台规划运动轨迹并生成机构驱动杆输入运动信号,对机构模型进行仿真分析并给出3D效果图.结果表明,该方法为并联康复机构控制策略的研究提供了安全高效可视的仿真平台,便于展开针对并联康复机构特点的各种控制策略的研究.
Author 王海芳
祁超飞
李新庆
乔湘洋
AuthorAffiliation 东北大学秦皇岛分校 控制工程学院,河北 秦皇岛,066004
AuthorAffiliation_xml – name: 东北大学秦皇岛分校 控制工程学院,河北 秦皇岛,066004
Author_FL QIAO Xiang-yang
QI Chao-fei
WANG Hai-fang
LI Xin-qing
Author_FL_xml – sequence: 1
  fullname: WANG Hai-fang
– sequence: 2
  fullname: LI Xin-qing
– sequence: 3
  fullname: QIAO Xiang-yang
– sequence: 4
  fullname: QI Chao-fei
Author_xml – sequence: 1
  fullname: 王海芳
– sequence: 2
  fullname: 李新庆
– sequence: 3
  fullname: 乔湘洋
– sequence: 4
  fullname: 祁超飞
BookMark eNo9j8tKAzEYhbOoYK19DHE16Z8_c8kspXiDgsJ0X5JmIi2SgkHsVlEQQVcuq90IPkChamfhyziXx3BEcXXgcPgO3wZp2IlNCdliQBlCKDpjOnLOUgYQeBwwpAgspsApADZI879fJ23nRgoAYj8KMG4Sn3vJcdJJqven_GZR3V3lH8vq8jFfveUv98VsVTxfFw-v-e2yXGRlNv_KPsvZfJOsGXnq0vZftkh_b7ffPfB6R_uH3Z2e5xggegGaFBmiFIyHoeRhOvSVMLFKQWqQAlBHvq8xNVoMjYhUYOqZ5HFoGGrkLbL9i72Q1kh7MhhPzs9sfTjQSk-n6kcSeK3IvwGUG1su
ClassificationCodes TP242%TP391.9
ContentType Journal Article
Copyright Copyright © Wanfang Data Co. Ltd. All Rights Reserved.
Copyright_xml – notice: Copyright © Wanfang Data Co. Ltd. All Rights Reserved.
DBID 2B.
4A8
92I
93N
PSX
TCJ
DOI 10.12068/j.issn.1005-3026.2019.03.002
DatabaseName Wanfang Data Journals - Hong Kong
WANFANG Data Centre
Wanfang Data Journals
万方数据期刊 - 香港版
China Online Journals (COJ)
China Online Journals (COJ)
DatabaseTitleList
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
DocumentTitle_FL Simulation of 3-SPS/S Parallel Manipulator Control System for Ankle Rehabilitation
EndPage 333
ExternalDocumentID dbdxxb201903002
GrantInformation_xml – fundername: 国家自然科学基金资助项目; 秦皇岛市科技支撑项目
  funderid: (51475086); (201501B011)
GroupedDBID -03
2B.
4A8
5XA
5XD
92E
92I
93N
ABDBF
ABJNI
ACGFS
ACUHS
ALMA_UNASSIGNED_HOLDINGS
CCEZO
CEKLB
CW9
EAD
EAP
EAS
EOJEC
ESX
OBODZ
PSX
TCJ
TGP
U1G
U5M
ID FETCH-LOGICAL-s1022-52fe2122a81366a36ec4b8f9be0ad0a802d744d2efd8cf87b5f66aa396f12d23
ISSN 1005-3026
IngestDate Thu May 29 03:59:15 EDT 2025
IsPeerReviewed false
IsScholarly true
Issue 3
Keywords 仿真
SimMechanics
控制系统
踝关节
康复
并联机构
Language Chinese
LinkModel OpenURL
MergedId FETCHMERGED-LOGICAL-s1022-52fe2122a81366a36ec4b8f9be0ad0a802d744d2efd8cf87b5f66aa396f12d23
PageCount 24
ParticipantIDs wanfang_journals_dbdxxb201903002
PublicationCentury 2000
PublicationDate 2019-03-01
PublicationDateYYYYMMDD 2019-03-01
PublicationDate_xml – month: 03
  year: 2019
  text: 2019-03-01
  day: 01
PublicationDecade 2010
PublicationTitle 东北大学学报（自然科学版）
PublicationTitle_FL Journal of Northeastern University(Natural Science)
PublicationYear 2019
Publisher 东北大学秦皇岛分校 控制工程学院,河北 秦皇岛,066004
Publisher_xml – name: 东北大学秦皇岛分校 控制工程学院,河北 秦皇岛,066004
SSID ssib000947529
ssib051368049
ssib023167010
ssj0040330
ssib002039846
ssib004675270
ssib006703041
ssib002263414
ssib008679651
ssib001128993
Score 2.2228396
Snippet TP242%TP391.9;...
SourceID wanfang
SourceType Aggregation Database
StartPage 310
Title 3-SPS/S踝关节并联康复机构控制系统仿真
URI https://d.wanfangdata.com.cn/periodical/dbdxxb201903002
Volume 40
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV1LaxRBEG7iBkQP4hPf5GCfwiQz3T093cfu3VmCoAiJkFuYp55WMAmE3BQFEfTkMZqL4A8IRE0O_hk3ycnfYFXPZLfVEKOXoba6-lFf7UxV93TXEHKnEFGZQGgcZElWB0KHPNCxioIkK-Iqy6VQIR4Uvndfzj0UdxfjxYlTP7xdS6sr-UyxfuS5kv-xKvDArnhK9h8sO2oUGECDfeEKFobriWzMg_kH8_gulKaKWkV1j6YxVTG1HDnKUMWQYzW10nEiqoXjGGoTJAzEklBLUt1FJhIpVQIJlVLjZJRy1RNs1lpHWKr7NBVI2D5yoLr-ZYugK1XIxxag9LC7pk3To0Z6hMTRmpimfWq72COONqHGYOMwnmYAUFdHXi0o0k64qTVa1HAloIfFhm3sdHV4WD4WkYgXSCEBUmGLi5JjEYHQaYcGEsoRgJj1O4JRA66pAwmwTzU1HFD011PwCBf311NOho5TuCG0QThwhIxq21pFOeBMSE00fZTFnOIIKlyVQ2PUNGgD42RwhzmdmPvLtEOZPq5n1oXwMWw-5tx6M0wzy8MmJcGhu2uyY7W3Nfd8F2_3FzdhEG_yk_zhYVkolXOx2MPMqAfcJNmmC2bj0GK04bPMy7W1HGXAqWDu10kG0zrWIZPG9mzfC_hFEnsBO8wGlPYD0pBr5SfEYxLCMP-kNVT3PJBEh-YF_C695Pg9OMM8EOE4AI4jLpV779zEciLkvMln0qp5mtBDEGaPg8AdARzU2eCRF60unCfn2mnmlGmeGRfIxPrji-Ssl3z0EhHu6TE7f_Dl_fDl1sHr58Ov2wfP3g13Pg8_vtnb2Nn78GLv7afhq-39rd393c3vu9_2NzYvk4V-utCdC9pvqATLuJYTxKyuIDplmQLVZMZlVYhc1TqvwqwMMxWyMhGiZFVdqqJWSR7XIJZxLeuIlYxfIZ3Bk0F1lUwlAHQFExamWCTynOc8K-EXV7JirCiLa2SqVXmpfUQuL_1m9ut_F7lBzoxvypuks_J0tboFYf9Kfrv9r_wEUx60Dg
linkProvider EBSCOhost
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=3-SPS%2FS%E8%B8%9D%E5%85%B3%E8%8A%82%E5%B9%B6%E8%81%94%E5%BA%B7%E5%A4%8D%E6%9C%BA%E6%9E%84%E6%8E%A7%E5%88%B6%E7%B3%BB%E7%BB%9F%E4%BB%BF%E7%9C%9F&rft.jtitle=%E4%B8%9C%E5%8C%97%E5%A4%A7%E5%AD%A6%E5%AD%A6%E6%8A%A5%EF%BC%88%E8%87%AA%E7%84%B6%E7%A7%91%E5%AD%A6%E7%89%88%EF%BC%89&rft.au=%E7%8E%8B%E6%B5%B7%E8%8A%B3&rft.au=%E6%9D%8E%E6%96%B0%E5%BA%86&rft.au=%E4%B9%94%E6%B9%98%E6%B4%8B&rft.au=%E7%A5%81%E8%B6%85%E9%A3%9E&rft.date=2019-03-01&rft.pub=%E4%B8%9C%E5%8C%97%E5%A4%A7%E5%AD%A6%E7%A7%A6%E7%9A%87%E5%B2%9B%E5%88%86%E6%A0%A1+%E6%8E%A7%E5%88%B6%E5%B7%A5%E7%A8%8B%E5%AD%A6%E9%99%A2%2C%E6%B2%B3%E5%8C%97+%E7%A7%A6%E7%9A%87%E5%B2%9B%2C066004&rft.issn=1005-3026&rft.volume=40&rft.issue=3&rft.spage=310&rft.epage=333&rft_id=info:doi/10.12068%2Fj.issn.1005-3026.2019.03.002&rft.externalDocID=dbdxxb201903002
thumbnail_s http://utb.summon.serialssolutions.com/2.0.0/image/custom?url=http%3A%2F%2Fwww.wanfangdata.com.cn%2Fimages%2FPeriodicalImages%2Fdbdxxb%2Fdbdxxb.jpg