Identification of the parallel 3-PRRR manipulator parameters considering the workspace boundaries and the passive orthosis movements

摘要

Abstract The article discusses a system of rehabilitation of the lower extremities based on a passive orthosis in the form of a sequential RRRR mechanism and an active parallel 3-PRRR robot. Effective numerical methods and algorithms were developed and tested that made it possible to determine the minimum geometric parameters of the active parallel mechanism that ensure the movement of a passive orthosis within the working area in accordance with clinical data when simulating walking. The simulation results are presented by visualizing the exported workspaces in the STL format.