Optics and Precision Engineering, Volume. 33, Issue 6, 884(2025)

Kinematics and dynamics of 2UU-PSU upper limb rehabilitation mechanism

Bingyan CUI1,*... Wenjing LI1, Fuxin AN2, Lin SHANG1, Weiying WU1, Yilun DU1 and Xiaogeng GUI1 |Show fewer author(s)
Author Affiliations
  • 1College of Mechanical Engineering, North China University of Science and Technology, Tangshan063000, China
  • 2Huadian Heavy Industries Co.,LTD., Tangshan063000, China
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    With the development of rehabilitation medical technology and improving the accuracy of upper limb rehabilitation effect, the research on efficient and accurate upper limb parallel rehabilitation institutions is becoming increasingly critical. In this paper, a new parallel rehabilitation mechanism for upper limbs was proposed and its kinematics and dynamics are analyzed. The 2UU-PSU Dof was investigated, the closed-loop vector method was used to solve the pose and derive the kinematics equation, and the rationality of the mechanism motion was verified. Based on the Lagrange method, dynamic equation was established for dynamic analysis. To verify the correctness of the kinematic derivation, the experimental platform of 2UU-PSU was built, and experiments were carried out based on NOKOV dynamic trapping equipment. Finally, the adaptive fuzzy PID control is established, and the 2UU-PSU mechanism is co-simulated by ADAMS and MATLAB Simulink. The experimental results show that: in the experiment of the 2UU-PSU mechanism based on the NOKOV dynamic trapping equipment, the max REMS of the pose measurement of the moving platform is 6.89%,1.81% and 9.73%, respectively. The max REMS of the three branched-chain dynamics between the simulation results and the theoretical data is 2.50%,2.40% and 2.96%, respectively. From the theoretical and simulation analysis and experimental verification results, the root mean square error of kinematics and dynamics of the 2UU-PSU mechanism is at a low level, indicating that the mechanism has rationality and reliability in terms of kinematics and dynamics, and can provide an effective basis for the design and research of related rehabilitation institutions. It also provides a valuable reference for other dynamic research on parallel rehabilitation institutions with less Dof .

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    Bingyan CUI, Wenjing LI, Fuxin AN, Lin SHANG, Weiying WU, Yilun DU, Xiaogeng GUI. Kinematics and dynamics of 2UU-PSU upper limb rehabilitation mechanism[J]. Optics and Precision Engineering, 2025, 33(6): 884

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    Paper Information

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    Received: Dec. 23, 2024

    Accepted: --

    Published Online: Jun. 16, 2025

    The Author Email: CUI Bingyan (cuibingyan@ncst.edu.cn)

    DOI:10.37188/OPE.20253306.0884

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