用于人体关节的P(2-RPS)&U可重构康复机构及运动学分析
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摘要
基于人体关节运动机理和可重构理念,提出一种P(2-RPS)&U可重构康复机构,通过锁定运动副,改变动平台的运动方式,可以分别实现对人体肘关节、膝关节和踝关节的康复训练。分析了P(2-RPS)&U可重构康复机构的位置逆解,并基于螺旋理论分析了该机构的位置奇异性,得到机构的两个奇异位置,通过添加驱动的方式避免了奇异位置的发生。使用Adams软件对P(2-RPS)&U可重构康复机构进行运动学仿真,仿真结果表明,该机构能够较好地达到人体肘关节、膝关节和踝关节康复运动的范围,满足受损关节的康复需求。
Based on the motion mechanism of human joints and reconfigurable concept,a P(2-RPS)&U reconfigurable rehabilitation mechanism is proposed. By locking the kinematic pairs to change the movement mode of the moving platform,the rehabilitation training of human elbow joint,knee joint and ankle joint can be realized,respectively. The inverse solution of the P(2-RPS)&U reconfigurable rehabilitation mechanism is analyzed and its position singularity is analyzed based on the screw theory. And the two singularity positions of the mechanism are obtained. The singularity positions can be avoided by adding the driver. The kinematics simulation of the P(2-RPS)&U reconfigurable rehabilitation mechanism is carried out by using Adams software. The simulation results show that the mechanism could reach the range of rehabilitation movements of human elbow,knee and ankle joints,and satisfy the rehabilitation requirements of damaged joints.
Based on the motion mechanism of human joints and reconfigurable concept,a P(2-RPS)&U reconfigurable rehabilitation mechanism is proposed. By locking the kinematic pairs to change the movement mode of the moving platform,the rehabilitation training of human elbow joint,knee joint and ankle joint can be realized,respectively. The inverse solution of the P(2-RPS)&U reconfigurable rehabilitation mechanism is analyzed and its position singularity is analyzed based on the screw theory. And the two singularity positions of the mechanism are obtained. The singularity positions can be avoided by adding the driver. The kinematics simulation of the P(2-RPS)&U reconfigurable rehabilitation mechanism is carried out by using Adams software. The simulation results show that the mechanism could reach the range of rehabilitation movements of human elbow,knee and ankle joints,and satisfy the rehabilitation requirements of damaged joints.
引文
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[2]CUI B Y,JIN Z L.Analysis of structural parameter and design of elbow joint rehabilitation parallel robot[J].Advanced Materials Research,2013,749:322-327.
[3]许祥,侯丽雅,黄新燕,等.基于外骨骼的可穿戴式上肢康复机器人设计与研究[J].机器人,2014,36(2):147-155.
[4]CHAPARRO-RICO B D M,CASTILLO-CASTANEDA E.Design of a 2DOF parallel mechanism to assist therapies for knee rehabilitation[J].Ingeniería E Investigación,2016,36(1):98-104.
[5]SUI P J,YAO L G,LIN Z F,et al.Analysis and synthesis of ankle motion and rehabilitation robots[C]//Proceedings of the 2009 IEEEInternational Conference on Robotics and Biomimetics,Guilin,China,December 19-23,2009.New York:IEEE,2009:2533-2538.
[6]ZHANG M M,CAO J H,ZHU G L,et al.Reconfigurable workspace and torque capacity of a compliant ankle rehabilitation robot(CARR)[J].Robotics and Autonomous Systems,2017,98:213-221.
[7]BIAN H,LIU Y H,LIANG Z C,et al.A novel 2-RRR/UPRR robot mechanism for ankle rehabilitation and its kinematics[J].Robot,2010,32(1):6-12.
[8]史小华,任岭雪,廖梓宇,等.空间四自由度串并混联下肢康复机器人设计与分析[J].机械工程学报,2017,53(13):48-54.
[9]禹润田,方跃法,郭盛.绳驱动并联踝关节康复机构设计及运动性能分析[J].机器人,2015,37(1):53-62.
[10]叶伟,方跃法,郭盛,等.基于运动限定机构的可重构并联机构设计[J].机械工程学报,2015,51(13):137-143.
[11]黄胜军,刘宏昭.一种冗余驱动并联机构的设计与奇异性分析[J].机械科学与技术,2017,36(7):998-1004.