中文摘要：

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。

英文摘要：

To avoid the patients＇ secondary damage,which caused by misoperation or other unexpected situations 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 influence 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.