中文摘要：

在分析现有踝关节康复机器人机构特征的基础上，提出了一种具有远程转动中心的2-RRR／UPRR并联踝关节康复机构．该机构可以实现踝关节康复运动所需的三自由度转动，即内翻／外翻，背屈／跖屈，外展／内收运动．采用关节轴线的运动副螺旋矢量表示法分析了该机构在整个工作空间内任意位姿都可以实现3维转动的机构学原理．计算了其自由度，并讨论了选取与定平台相连接的3个转动副作为输入的合理性．应用球面几何方法给出该机构的位置反解，同时推导出机构位置正解表达式，并给出了数值算例，验证了其工作空间满足踝关节康复运动的要求．

英文摘要：

Based on the analysis on the mechanisms of existing robots for ankle rehabilitation, a novel 2-RRR/UPRR parallel manipulator mechanism that can perform three rotations around the remote centre is presented. It meets the requirements of ankle rehabilitation motions for eversion/inversion, dorsiflexion/plantarflexion, adduction/abduction. The principles that the mechanism can always perform the above motions in its workspace are analyzed based on kinematic pair screw theory in the form of vector, the mobility of the mechanism is calculated, and the rationality of selecting 3 rotation pairs connecting with fixed platform as inputs is discussed. The forward and inverse kinematics of the mechanism are given based on spherical trigonometry, and some numerical examples are presented. The workspace of the parallel mechanism is big enough for ankle rehabilitation.