Research on an Ankle Joint Auxiliary Rehabilitation Robot with a Rigid-Flexible Hybrid Drive Based on a 2-SPS Mechanism

Table 3

Analysis results of maximum angular speed and acceleration of the platform and maximum motor torque.

Curve		Project
		Maximum angular velocity (rad/s)		Maximum angular acceleration (rad/s^2)		Motor maximum torque (N·mm)
		Upward motion	Downward motion	Upward motion	Downward motion	Upward motion	Downward motion
Spring in the elastic state	Modified trapezoid	0.234	-0.223	-0.756	0.503	0.382	0.534
	Modified constant velocity	0.164	-0.155	-0.222	-1.290	0.401	0.560
	Modified sinusoidal	0.208	-0.197	0.200	0.440	0.384	0.538
Spring in the rigid state	Modified trapezoid	0.229	-0.222	0.414	-0.538	0.387	0.539
	Modified constant velocity	0.157	-0.150	-0.209	-0.555	0.407	0.559
	Modified sinusoidal	0.201	-0.194	-0.593	-0.197	0.391	0.541