Structural design and analysis of a novel ankle joint rehabilitation robot based on parallel mechanism

Aiming at the problems such as insufficient rehabilitation treatment and delayed treatment in the late stage of ankle sports injury. In this paper, a novel ankle rehabilitation robot based on parallel mechanism is proposed to provide effective rehabilitation training for patients with ankle sports injuries. Through the analysis of the motion mechanism of the ankle joint, the motion space requirement of the ankle joint rehabilitation robot is defined. Therefore, this paper designs a new ankle joint rehabilitation robot based on parallel mechanism which can realize dorsiflexion/plantar flexion, varus/valgus rehabilitation movement. The mathematical model of the structure is established by spiral theory, and the degree of freedom and kinematic constraint parameters of the system are determined. On this basis, three-dimensional software is used to optimize the structure design. In order to verify the rationality of the design of the mechanism, this paper uses simulation software to conduct dynamic simulation analysis of dorsiflexion/plantar flexion and inversion/valgus of the rehabilitation robot. The results show that the mechanism can stably perform the movement space requirements of rehabilitation and meet the expected Angle and displacement requirements. This design provides a new design direction for ankle joint rehabilitation robot.