基于锥规划重建的运动关节康复外骨骼定制设计

屠正欣,徐敬华,张树有

Rehabilitation exoskeleton customized design of kinematic joint based on cone programming reconstruction

Zhengxin TU,Jinghua XU,Shuyou ZHANG

表 4 不同方案的变瞬心机构设计参数

Tab.4 Design parameters of variable instantaneous center mechanism under different schemes

参数 数值 方案一 方案二 方案三 $ {L}_{1} $/mm 41.31 42.25 40.84 $ {L}_{2} $/mm 58.16 56.48 55.25 $ {L}_{3} $/mm 43.30 41.54 40.43 $ {L}_{4} $/mm 55.18 55.64 53.72 $ {\alpha }_{1} $/(°) 4.76~25.15 4.42~26.60 3.99~24.36 $ {\alpha }_{2} $/(°) 36.46~43.97 33.19~41.95 38.08~45.93 $ {\alpha }_{3} $/(°) 9.75 10.17 10.02 $ {\alpha }_{4} $/(°) 131.44~144.73 130.42~145.93 131.94~145.30