Abstract
To realize the lower limb rehabilitation training with multiple-degree-of-freedom, a wire-driven parallel lower limb rehabilitation robot with six wires is designed. The static and dynamic models of the parallel robot are established, and the feasible wrench workspace of the robot is calculated based on the motion law of lower limb rehabilitation in lying posture. And the motion trajectory of a wire-driven robot is planned according to the human lower limb D-H model. The variation laws of wire length and speed are calculated by MATLAB simulation, which verifies the feasibility of the wire-driven parallel lower limb rehabilitation robot.
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