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摘要
To simulate the movement of a human during daily activities, such as walking, running, squatting, and kneeling, a novel parallel hip joint simulator whose key movement component is a 3SPS+1PS parallel manipulator with four degrees of freedom (DOF) was proposed. SPS denotes the spherical-prismatic-spherical leg, and PS denotes the prismatic-spherical leg where only the prismatic joint is actuated and hence underlined. Firstly, the formulae for solving the inverse kinematics of the 3SPS+1PS parallel manipulator were derived based on the unit quaternion method. Then, the parallel hip joint simulator was designed and finally developed by means of constructing the mechanical module, control module, hydraulic loading module, and data transmission module. In addition, three linear actuators are driven by the scheduled inverse displacement trajectories to enable the moving platform to output rotations about the Z-, Y-, and X-axes for representing flexion/extension, abduction/adduction, and external/internal rotations of the human hip joint. Simultaneously, the hydraulic loading module represents the dynamic loading as described by ISO 14242 Part-1 acting on the hip joint during the kinematic experiment. The kinematic experiment and dynamic loading experiment show that the fitting curves of the experimental results are consistent with the designed movement and loading trajectories. All these illustrate that the developed 3SPS+1PS parallel hip joint simulator with effective design of all modules can substantially represent the designed movement and loading trajectories. The developed hip joint simulator can provide more reliable tribology test data for artificial prosthesis of hip joint.
- 出版日期2012
- 单位中国矿业大学（北京）
