Rigid-Body Guidance Synthesis of Noncircular Gear-Five-Bar Mechanisms and Its Application in a Knee Joint Rehabilitation Device

At present, the research objects of rigid-body guidance synthesis are mostly limited to pure linkages, and there is little on combined mechanisms gears or cams linkages. In order expand improve kinematic mapping theory, this paper proposes a method noncircular gear-five-bar mechanisms. A mechanism can be regarded as combination 2R (two revolute joints) open chain, 3R (three chain pair gears. Firstly, circle point curves center chains obtained by using mapping, they formed into double crank five-bar linkage. Secondly, B-spline curve used fit rotation angle relationship gear obtain pitch Finally, aiming at correcting patients’ abnormal gait, exoskeleton knee joint rehabilitation device designed based four task poses. The prototype developed wear test carried out. results verify correctness effectiveness training.