Journal of Graphics ›› 2025, Vol. 46 ›› Issue (5): 1094-1104.DOI: 10.11996/JG.j.2095-302X.2025051094
• Digital Design and Manufacture • Previous Articles Next Articles
LIU Zheng1(), PAN Guoxin2, YAO Pengzhen1, LIU Tian1,2, SU Peng1(
)
Received:
2024-10-25
Accepted:
2025-03-10
Online:
2025-10-30
Published:
2025-09-10
Contact:
SU Peng
About author:
First author contact:LIU Zheng (2000-), master student. His main research interests cover rehabilitation engineering, mechanical design. E-mail:2022020105@bistu.edu.cn
Supported by:
CLC Number:
LIU Zheng, PAN Guoxin, YAO Pengzhen, LIU Tian, SU Peng. Design and characterisation of a dual-branched chain turning assist device[J]. Journal of Graphics, 2025, 46(5): 1094-1104.
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URL: http://www.txxb.com.cn/EN/10.11996/JG.j.2095-302X.2025051094
坐标系变换 | α/° | ai-1/mm | di/mm | θj |
---|---|---|---|---|
M0~M1 | 0 | 0 | 0 | 0 |
M1~M2 | 0 | a1 | 0 | θ2 |
M2~M3 | 0 | a2 | 0 | θ3 |
M3~M4 | 0 | a3 | 0 | θ4 |
M4~M5 | 0 | a4 | 0 | 0 |
Table 1 Data sheet of auxiliary side-rotation support chain D-H
坐标系变换 | α/° | ai-1/mm | di/mm | θj |
---|---|---|---|---|
M0~M1 | 0 | 0 | 0 | 0 |
M1~M2 | 0 | a1 | 0 | θ2 |
M2~M3 | 0 | a2 | 0 | θ3 |
M3~M4 | 0 | a3 | 0 | θ4 |
M4~M5 | 0 | a4 | 0 | 0 |
支链名称 | 关节变量 | 变量范围/(°) |
---|---|---|
肩部 | γ1 | 0~40 |
γ2 | 0~40 | |
臀部 | γ3 | 0~36 |
γ4 | 0~12 | |
γ5 | 0~36 |
Table 2 Parameters for the range of motion between individual strands
支链名称 | 关节变量 | 变量范围/(°) |
---|---|---|
肩部 | γ1 | 0~40 |
γ2 | 0~40 | |
臀部 | γ3 | 0~36 |
γ4 | 0~12 | |
γ5 | 0~36 |
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