Research Article
[Retracted] Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR)
Table 2
Theoretical parameters of PARR.
| | Parameters | Value (mm) | Parameters | Value (mm) |
| | l1,i | 192 | o0 | (0, 0, 0) | | l2,i | 255 ≤ l2,i ≤ 405 | c1 | (130, 129.5, −12.5) | | l0 | 421 | c2 | (−130, 129.5, −12.5) | | θ1,i | −35° ≤ θ1,i ≤ 35° | a1 | (175, 80, −421) | | θ2,i | −35° ≤ θ2,i ≤ 35° | a2 | (−175, 80, −421) |
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