从结构设计到动力学建模：面向控制的3-RRR并联踝关节康复机器人开发
From Structural Design to Dynamics Modeling: Control-Oriented Development of a 3-RRR Parallel Ankle Rehabilitation Robot
AI总结：
本文开发了一款基于3-RRR球面并联机构的可穿戴踝关节康复机器人，构建了从结构设计到拉格朗日动力学建模的完整流程，仿真验证了其运动跟踪的稳定性，为智能个性化康复奠定了基础平台。
摘要：
本文提出了一种基于3-RRR球面并联机构（SPM）的可穿戴踝关节康复机器人的开发，通过俯仰、滚转和偏航运动支持多自由度恢复。该系统具有紧凑、符合人体工程学的结构，旨在实现舒适性、安全性以及与踝关节生物力学的兼容性。本文实现了从设计到动力学的完整流程，包括结构设计、用于运动规划的逆运动学建模，以及用于力矩估计和仿真分析的基于拉格朗日的动力学建模。初步仿真验证了在代表性康复轨迹下稳定的关节协调和平滑的运动跟踪。目前正在开发控制框架，以增强整个工作空间内的响应能力。未来的工作将集中于集成个性化建模和自适应策略，通过基于模型的控制解决运动学奇异问题。这项工作为智能、个性化的踝关节康复建立了一个基础平台，既支持静态训练，也具备扩展至步态相位定时辅助的潜力。
英文摘要：
This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic structure designed for comfort, safety, and compatibility with ankle biomechanics. A complete design-to-dynamics pipeline has been implemented, including structural design, kinematic modeling for motion planning, and Lagrangian-based dynamic modeling for torque estimation and simulation analysis. Preliminary simulations verify stable joint coordination and smooth motion tracking under representative rehabilitation trajectories. The control framework is currently being developed to enhance responsiveness across the workspace. Future work will focus on integrating personalized modeling and adaptive strategies to address kinematic singularities through model based control. This work establishes a foundational platform for intelligent, personalized ankle rehabilitation, enabling both static training and potential extension to gait-phase-timed assistance.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
