CAJ | 학술논문

为避免机构在误操作或其他意外境况下对患者产生二次伤害，使机构在3个方向的旋转能力尽可能与人体踝关节的旋转能力一致，降低产生二次伤害的可能性，对可穿戴式机器人踝关节圆平面上球副的位置进行优化设计。考虑杆长实际变化范围和球副旋转角度约束，建立优化设计的数学模型，分析球副分布位置对机构旋转能力的影响；最后针对具体实例，利用搜索法求解上述优化模型，确定出球副的合理分布位置，使得机构的旋转能力与人体踝关节旋转能力的差值最小。
위피면궤구재오조작혹기타의외경황하대환자산생이차상해，사궤구재3개방향적선전능력진가능여인체과관절적선전능력일치，강저산생이차상해적가능성，대가천대식궤기인과관절원평면상구부적위치진행우화설계。고필간장실제변화범위화구부선전각도약속，건립우화설계적수학모형，분석구부분포위치대궤구선전능력적영향；최후침대구체실례，이용수색법구해상술우화모형，학정출구부적합리분포위치，사득궤구적선전능력여인체과관절선전능력적차치최소。
To avoid the patients’secondary damage,which caused by misoperation or other unexpected situa-tions in mechanism,the possibility of secondary damage is reduced by maKing the rotation capability of mechanism in three directions consistent with that of human anKle as much as possible,optimization design to the spherical pair position of the new wearable robot in anKle plane circle was done. Considering the practical range of rod length and the rotation angle constraint of spherical pair,the mathematical model of optimization design was established,the in-fluence of the position of spherical pair on the rotation capability of mechanism was analysed;Finally,according to concrete example,the reasonable distribution position of spherical pair was determined by using search method to solve the above optimization model,which maKes the rotation capability of mechanism in three directions consistent with that of human anKle as muoh as possible.