Kinematics and orientation capability of a family of 3-DOF parallel mechanisms

To assist an individual with an amputation in regaining daily quality of life, a 2SPU-RU type parallel mechanism was developed based on ankle biomechanics. The inverse kinematic analysis of this mechanism was performed using the vector method. Subsequently, the Jacobian matrices were analyzed. The dynamic model of the mechanism was then created based on the principle of virtual work, and its theoretical solution was compared with numerical results obtained in a simulation environment. Additionally, the validity of the dynamic model and the inverse kinematics was verified by comparing theoretical and simulation results for the movements of plantarflexion–dorsiflexion, eversion–inversion, and abduction–adduction during the gait cycle.

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Kinematics and orientation capability of a family of 3-DOF parallel mechanisms

Cited by 3 publications

References 20 publications

Kinematics analysis and scale synthesis of 3UPU parallel mechanism

Kinematics analysis and scale synthesis of 3UPU parallel mechanism

Kinematic performance analysis of a parallel mechanism for loading test of hydraulic support

Modeling and Simulation of a 2SPU-RU Parallel Mechanism for a Prosthetic Ankle with Three Degrees of Freedom

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