并联 2-UPS/RRR踝关节康复机构及运动性能分析

doi:10.13973/j.cnki.robot.2016.0144

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李剑锋, 李世才, 陶春静, 季润, 徐成辉, 张兆晶. 并联 2-UPS/RRR踝关节康复机构及运动性能分析[J]. 机器人, 2016, 38(2): 144-153.DOI: 10.13973/j.cnki.robot.2016.0144. LI Jianfeng, LI Shicai, TAO Chunjing, JI Run, XU Chenghui, ZHANG Zhaojing. Parallel 2-UPS/RRR Ankle Rehabilitation Mechanism and Kinematic Performance Analysis. ROBOT, 2016, 38(2): 144-153. DOI: 10.13973/j.cnki.robot.2016.0144.

摘要

为了帮助患者恢复踝关节运动能力，在分析现有踝关节康复机器人机构的基础上，提出了一种简单、实用的 3 自由度 2-UPS/RRR 并联机构．该机构约束支链与动平台的设计，保证了机构的旋转中心与不同患者的踝关节旋转中心重合．计算了自由度，并应用解析法给出了机构的运动学逆解，建立了速度雅可比矩阵，通过对驱动参数的限定，求解了满足训练要求的机构工作空间．最后基于雅可比矩阵，仿真分析了机构的运动学性能，结果表明在规定的工作空间内机构具有良好的可操作性、运动灵活性和刚度特性．而且机构采用非冗余电动机驱动，结构简单，有效避免了支链间不必要的干涉，减小了整个机构的占用体积，相比当前的踝关节康复机构更具优势．

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	李剑锋
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	张兆晶

关键词 ：踝关节康复, 并联机构, 灵活性, 刚度特性, 非冗余

Abstract：

In order to recover the motion ability of the patient's ankle joint, a practical 3DoF (degree of freedom) 2-UPS/RRR parallel mechanism with simple structure is presented, based on the analysis on the mechanisms of existing robots for ankle rehabilitation. The mechanism center of rotation matches accurately with the center of rotation of each patient's ankle, owing to the design of constraint branches and the moving platform in this paper. Inverse kinematics of the mechanism is solved using the analytical method by calculating the freedom of the mechanism, and thereby the velocity Jacobian matrix is established. Then, the workspace of the mechanism, which should meet all the training requirements, is solved by demarcating the driving parameters. Lastly, the kinematics performance of the mechanism is analyzed in simulation based on the Jacobian matrix. The results show that the mechanism is of favourable operability, flexibility and stiffness characteristics within the specified workspace. Moreover, the non-redundant electric motor is in simple structure, unnecessary interferences between the branches are effectively avoided, and the occupancy volume of the entire unit is distinctly reduced, which are superior to some existing ankle rehabilitation robots.

Key words： ankle rehabilitation parallel mechanism dexterity stiffness characteristic non-redundant

收稿日期: 2015-09-28 录用日期: 2016-01-26

TP24

基金资助:

国家自然科学基金（61273342）；北京市自然科学基金（3132005，3113026）

通讯作者: 李剑锋，lijianfeng@bjut.edu.cn E-mail: lijianfeng@bjut.edu.cn

作者简介: 李剑锋（1964-），男，教授.研究领域：机器人机构学与机械传动技术.
李世才（1989-），男，硕士生.研究领域：机器人机构学.
陶春静（1975-），女，高级工程师.研究领域：康复机器人，康复工程.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0144 或 https://robot.sia.cn/CN/Y2016/V38/I2/144

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