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Kinematic analysis of a 3SPS+1PS parallel hip joint simulator based on Rodrigues parameters

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Abstract

To overcome defects in complex motion simulation and variable dynamic loading of hip joint simulators available in literature, a parallel hip joint simulator with a spatial parallel manipulator as core module is proposed. The simulator has four degrees of freedom (DOFs) including three rotational freedoms which replicate abduction/adduction (AA), flexion/extension (FE) and internal/external rotation (IER) motions in various human motion states and one translational freedom designed for specimen replacement. First, the mobility properties of the simulator were analyzed based on screw theory. Second, its kinematics was analyzed and its active/constrained forces were solved based on Rodrigues parameters. Some analytic formulae were derived for solving the inverse/forward displacements, velocities, accelerations and forces. Third, according to ISO 14242-1:2002(E), a numerical simulation of the inverse kinematics was conducted, the motion configuration scheme of the simulator was determined and the selection of actuators was validated. Then the numerical simulation was validated by an experiment. Finally, higher calculation efficiency of the Rodrigues parameters against the Quaternion was proved. It is shown that the simulator proposed here can replicate motions of a natural hip joint under various motion states via changing control programs but mechanical structure.

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Authors and Affiliations

  1. College of Mechanical & Electrical Engineering, China University of Mining & Technology, Xuzhou, 221116, China

    Gang Cheng, Wei Gu & Shi-rong Ge

Authors
  1. Gang Cheng
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  2. Wei Gu
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  3. Shi-rong Ge
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Corresponding author

Correspondence to Gang Cheng.

Additional information

Recommended by Associate Editor Sangyoon Lee

Gang Cheng received the M.S. degree in 2003 from the Chinese Academy of Sciences and the Dr. Sc. Tech in 2008 from China University of Mining and Technology. Currently, he is an associate professor of China University of Mining and Technology in China. His research interests include mechanism theory and reliability of electromechanical equipment.

Wei Gu is currently a postgraduate student at the College of Mechanical and Electrical Engineering of China University of Mining and Technology. His research interest is mechanism theory.

Shi-rong Ge graduated in 1983 from Heilongjiang Mining Institute and received the Dr. Sc. Tech degree in 1989 from China University of Mining and Technology. Currently, he is a professor of China University of Mining and Technology. His research interests include non-linearity of tribology, rescue robot and mining machinery reliability.

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Cheng, G., Gu, W. & Ge, Sr. Kinematic analysis of a 3SPS+1PS parallel hip joint simulator based on Rodrigues parameters. J Mech Sci Technol 26, 3299–3310 (2012). https://doi.org/10.1007/s12206-012-0809-5

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  • DOI: https://doi.org/10.1007/s12206-012-0809-5

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