To assist an amputee in regaining his or her daily quality of life, based on analysis of the motion characteristics of the human hip, a 2-UPR/URR parallel mechanism with a passive limb was designed. The inverse kinematics of this mechanism was analyzed based on a closed-loop vector method. The constrained Jacobian matrix and kinematic Jacobian matrix of each limb were then analyzed, and a 6?×?6 fully Jacobian matrix was constructed. Based on this, kinematic performances were analyzed and summarized. Finally, the dynamic model of the mechanism was constructed based on the virtual work principle, and its theoretical solution was compared with the numerical results, which were obtained in a simulation environment. Results showed that the prosthetic mechanism had a larger rotating workspace and better mechanical performance, which accorded a range of motion and bearing capacity similar to that of the human hip in multiple gait modes. Moreover, the validity of the dynamic model and inverse kinematics were verified by comparing the theoretical and simulation results. Furthermore, with flexion and extension, the torque change in the hip prosthetic mechanism was similar to that of the human hip, which demonstrated the feasibility of the hip prosthetic mechanism and its good dynamic performance.
Majun Song
,
Sheng Guo
,
Xiangyang Wang
,
Haibo Qu
. Dynamic Analysis and Performance Verification of a Novel Hip Prosthetic Mechanism[J]. Chinese Journal of Mechanical Engineering, 2020
, 33(1)
: 17
-17
.
DOI: 10.1186/s10033-020-0436-5
[1] A H Timemy, G Bugmann, J Escudero, et al. Classification of finger movements for the dexterous hand prosthesis control with surface electromyography. IEEE Journal of Biomedical and Health Informatics, 2013, 17(3): 608–618.
[2] Y L Han, S Jia, X S Wang. Design and simulation of an ankle prosthesis with lower power based on human biomechanics. Robot, 2013, 35(3): 276–282. (in Chinese)
[3] L M Nelson, T Neil, C P Carbone. Functional outcome measurements of a veteran with a hip disarticulation using a Helix 3D hip joint: A case report. Journal of Prosthetics and Orthotics, 2011, 23(1): 21–26.
[4] G Maja, K Roman, A Luka, et al. Online phase detection using wearable sensors for walking with a robotic prosthesis. Sensors, 2014, 14: 2776–2794.
[5] R Hanz, S Dan, A S William, et al. Dynamic modeling, parameter estimation and control of a leg prosthesis test robot. Applied Mathematical Modelling, 2015, 39: 559–573.
[6] Y N Gu. Design of humanoid lower limbs mechanism based on a new type of joint and its measurement and control technology research, Master's Thesis, Yanshan University, Qinhuangdao, China, 2017. (in Chinese)
[7] G Cheng, W Gu, S L Jiang. Singularity analysis of a parallel hip joint simulator based on Grassmann line geometry. Journal of Mechanical Engineering, 2012, 48(17): 29–37. (in Chinese)
[8] R Sellaouti, F B Ouezdou. Design and control of a 3-DOFs parallel actuated mechanism for biped hip joint. Mechanism and Machine Theory, 2005, 40: 1367–1393.
[9] Q L Wang, J L Liu, S R Ge. Study on biotribological behavior of the combined joint of CoCrMo and UHMWPE/BHA composite in a hip joint simulator. Journal of Bionic Engineering, 2009, 6(4): 378–386.
[10] E Joseph, Muscolino, P Li. Musculoskeletal anatomy coloring book. Beijing: Beijing Science and Technology Press, 2017. (in Chinese)
[11] J G Qian, Y W Song. Biomechanics of sports rehabilitation. Beijing: People's Sports Press, 2015. (in Chinese)
[12] Z Huang, Y S Zhao, T S Zhao. Advanced spatial mechanism. Beijing: Higher Education Press, 2006. (in Chinese)
[13] H Saioa, P Charles, A Oscar, et al. Analysis of the 2PRU-1PRS 3-DOF parallel manipulator: Kinematics, singularities and dynamic. Robotics and Computer-Integrated Manufacturing, 2018, 51: 63–72.
[14] A J Sameer, L W Tsai. Jacobian analysis of limited-DOF parallel manipulators. Journal of Mechanical Design, 2002, 124: 254–258.
[15] B C Hee, R Jeha. Singularity analysis of a four degree-of-freedom parallel manipulator based on an expanded 6×6 Jacobian Matrix. Mechanism and Machine Theory, 2012, 57: 52–61.
[16] G J Liu, Z Y Qu, X C Liu, et al. Singularity analysis and detection of 6-UCU parallel manipulator. Robotics and Computer-Integrated Manufacturing, 2014, 30: 172–179.
[17] Y Lu, B Hu. Unified Solving Jacobian/Hessian matrices of some parallel manipulators with n-SPS active legs and a passive constrained leg. Journal of Mechanical Design, 2007, 129: 1161–1169.
[18] L W Tasi. Robot analysis: The mechanics of serial and parallel manipulators. New York: Wiley-Interscience Publication, 1999.
[19] V Kumar. Characterization of workspaces of parallel manipulators. Journal of Mechanical Design, 1992, 114: 368–375.
[20] G Coppola, D Zhang, K Liu. A 6-dof reconfigurable hybrid parallel manipulator. Robotics and Computer-Integrated Manufacturing, 2014, 30(2): 99–106.
[21] Z Gao, D Zhang. Performance analysis, mapping, and multi-objective optimization of a hybrid robotic machine tool. IEEE Transactions on Industrial Electronics, 2015, 62(1): 423–433.
[22] R Lukas, G Nikolai, J B Franz. Sensitivity of structural response in context of linear and nonlinear buckling analysis with solid shell finite elements. Structural and Multidisciplinary Optimization, 2017, 55(6): 2259–2283.
[23] J P Merlet. Jocabian, manipulability, condition number and accuracy of parallel robots. Journal of Mechanical Design, 2006, 128(1): 199–206.
[24] M J Tasi, H W Lee. Generalized evaluation for the transmission performance of mechanisms. Mechanism and Machine Theory, 1994, 29(4): 607–618.
[25] Y P Cheng, Y Cheng. MATLAB theoretical mechanics. Beijing: Higher Education Press, 2015. (in Chinese)
[26] Z M Chen, X M Liu, Y Zhang, et al. Dynamics analysis of a symmetrical 2R1T 3-UPU parallel mechanism. Journal of Mechanical Engineering, 2017, 53-(21): 46–53. (in Chinese)
[27] H Yang, H R Fang, Y F Fang, et al. Kinematics performance and dynamics analysis of a novel parallel perfusion manipulator with passive link. Mathematical Problems in Engineering, 2018, 2: 1–18.
[28] L W Tsai. Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work. Journal of Mechanical Design, 2000, 122: 3–9.
[29] D S Zhang, Y D Xu, J T Yao, et al. Analysis and optimization of a spatial parallel mechanism for a new 5-DOF hybrid serial-parallel manipulator. Chinese Journal of Mechanical Engineering, 2018, 31: 54, https://doi.org/10.1186/s10033-018-0251-4.
