Vali, Ashkan, Haghjoo, Mohammad Reza, Beigzadeh, Borhan. (1401). Synthesis of a Six-Link Mechanism for Generating the Ankle Motion Trajectory Using Shadow Robot Control Method. نشریه مهندسی عمران امیرکبیر, 6(2), 189-200. doi: 10.22060/ajme.2021.20455.6004
Ashkan Vali; Mohammad Reza Haghjoo; Borhan Beigzadeh. "Synthesis of a Six-Link Mechanism for Generating the Ankle Motion Trajectory Using Shadow Robot Control Method". نشریه مهندسی عمران امیرکبیر, 6, 2, 1401, 189-200. doi: 10.22060/ajme.2021.20455.6004
Vali, Ashkan, Haghjoo, Mohammad Reza, Beigzadeh, Borhan. (1401). 'Synthesis of a Six-Link Mechanism for Generating the Ankle Motion Trajectory Using Shadow Robot Control Method', نشریه مهندسی عمران امیرکبیر, 6(2), pp. 189-200. doi: 10.22060/ajme.2021.20455.6004
Vali, Ashkan, Haghjoo, Mohammad Reza, Beigzadeh, Borhan. Synthesis of a Six-Link Mechanism for Generating the Ankle Motion Trajectory Using Shadow Robot Control Method. نشریه مهندسی عمران امیرکبیر, 1401; 6(2): 189-200. doi: 10.22060/ajme.2021.20455.6004

Synthesis of a Six-Link Mechanism for Generating the Ankle Motion Trajectory Using Shadow Robot Control Method

AUT Journal of Mechanical Engineering
مقاله 3، دوره 6، شماره 2، تابستان 2022، صفحه 189-200    اصل مقاله (1.68 M)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22060/ajme.2021.20455.6004
نویسندگان
Ashkan Vali1؛ Mohammad Reza Haghjoo2؛ Borhan Beigzadeh* 1
1Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, Iran
2Department of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran
چکیده
In this paper, one degree of freedom Stephenson type III mechanism is synthesized to generate the human ankle gait trajectory by considering prescribed timing. The produced trajectory must be consistent with the natural motion of the human foot in terms of position and timing. In this regard, we used the robust and effective shadow robot algorithm that synthesizes the mechanism’s dimensions and considers prescribed timing, which is a crucial topic in gait rehabilitation devices. In this method, a mechanism with multiple fixed links is replaced by a hypothetical equivalent shadow robot with several degrees of freedom. Then, optimizing a suitable controller for the shadow robot leads to finding optimal mechanism dimensions. Afterward, the adjustability of this mechanism for generating other similar ankle gait trajectories is shown. Adjustability has been accomplished through the little change in the crank and coupler link sizes. The optimized mechanism generates ankle movement for different people with different leg lengths and has the least spatial and timing error. The reasonable error confirms the usage of the mechanism in gait rehabilitation devices.
کلیدواژه‌ها
Mechanism synthesis؛ Six-link؛ Stephenson mechanism؛ Ankle trajectory؛ Gait rehabilitation
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