一种混合输入并联拟人步态康复机器人的机构设计与分析

doi:10.13973/j.cnki.robot.2016.0495

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姜礼杰, 王良诣, 王勇, 陈进. 一种混合输入并联拟人步态康复机器人的机构设计与分析[J]. 机器人, 2016, 38(4): 495-503.DOI: 10.13973/j.cnki.robot.2016.0495. JIANG Lijie, WANG Liangyi, WANG Yong, CHEN Jin. Mechanism Design and Analysis of a Hybrid-Input Parallel Rehabilitation Robot with Humanoid Gaits. ROBOT, 2016, 38(4): 495-503. DOI: 10.13973/j.cnki.robot.2016.0495.

摘要针对缺少适于在社区与家庭中使用的康复机器人的现状，研制了一种适于偏瘫患者在社区与家庭中进行不同步幅康复训练的新型机器人．通过探索正常步态及患者康复过程中步态运动的特点，结合社区与家庭的使用要求，基于并联机构设计了一种步幅可变的混合输入康复机器人．以身高185cm成人的正常步态为设计依据对机器人训练机构进行了尺寸综合分析，并对其运动学、工作空间、控制规律进行了分析与仿真，在理论上证明了该设计方案的可行性．样机试验结果表明，该机器人可通过改变曲柄长度和调整杆角度使受试者实现肩、膝关节活动度分别为-14.8°～23.7°、1.8°～66.5°，步长68cm以下的步态运动．

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关键词 ：并联康复机器人, 混合输入, 机构设计, 机构分析, 步态轨迹

Abstract：Owing to the absence of the rehabilitation robot for application in the community and family, a novel robot is developed for hemiplegic patients treating with different strides in the community and family. By exploring the characteristics of normal gaits and hemiplegic patient gaits in rehabilitation treating process, a variable-stride hybrid-input rehabilitation robot is designed for community and family applications on the basis of parallel mechanism. The dimensions of robot's actuator are calculated based on the normal gait of adults with 185 cm height, and the kinematics, the workspace and the control law of robot's actuator are analyzed and simulated, which prove the feasibility of the design scheme in theory. The prototype test results show that the robot can make the subject perform gait motion with the shoulder joint range from -14.8° to 23.7°, the knee joint range from 1.8° to 66.5° and the step length less than 68 cm through changing the length of the crank and the angle of the adjusting rod.

Key words： parallel rehabilitation robot hybrid input mechanism design mechanism analysis gait trajectory

收稿日期: 2016-03-21 录用日期: 2016-06-24

TP242

基金资助:科技部中小企业创新基金（11C26214402042）

通讯作者: 王勇，simenkouwang@sina.com E-mail: simenkouwang@sina.com

作者简介: 姜礼杰（1987-），男，博士生．研究领域：康复机器人，机械设计．
王良诣（1991-），男，硕士生．研究领域：机械设计与优化．
王勇（1969-），男，教授，博士生导师．研究领域：机械设计，传感与测试技术，智能机械，康复机器人等．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0495 或 https://robot.sia.cn/CN/Y2016/V38/I4/495

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