中文摘要：

通过分析现有踝关节康复机器人所存在的缺陷。提出一种结构简单,能够同时完成主／被动康复运动、具有远程转动中心的对称3-RRS并联康复机构。该机构能具有三自由度定点转动功能,可以完成踝关节康相应的背屈／跖屈,外展／内收,内翻／外翻康复运动。运用螺旋理论分析了机构可以在工作空间内任意位姿都可以实现3维转动的机构学原理,并计算了机构的自由度。运用球面几何理论完成了机构的正反解的推导。通过数值算例,验证了机构是满足踝关节康复要求的。

英文摘要：

Through the analysis of the imperfection of the existing rehabilitation robots,it comes up to a new rehabilitation mechanism with simple structure as well as the ability to accomplish the active and passive excises in the same time ,and owns the remote center of 3-RRS. This mechanism can perform three rotations around the remote centre, which is adduction and abduction,dorsiflexion and plantarflexion, inversion and eversion. Through the use of the screw theory to analyze the mechanism can realize the 3d rotation in the workspace with any posture and the degree of freedom of the actuated joints of the mechanism is discussed. The forward and inverse location resolution of the mechanism is analyzed by using the spherical analytic theory. Through the numerical example to demonstrate the mechanism can meet the requirements of the ankle rehab ilitation.