助行训练机器人骨盆位姿控制机构研究  

Research on pelvis posture control mechanism of walking aid training robot

作　　者：张立勋[1] 夏振涛 刘富强 王令军 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机械设计》2009年第5期42-45,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(60575053);国家博士点基金资助项目(20060217024);哈尔滨市科技攻关计划资助项目(2005AA9CS190-1)

摘　　要：通过对正常人骨盆运动规律分析,提出了一种人行走时骨盆运动的控制机构。用闭环矢量法进行了正逆运动学分析,并在Matlab/Simulink,SimMechanics环境下进行了仿真分析。运用Pro/E设计了助行机器人移动平台虚拟样机,进行了助行训练动态仿真,验证了助行训练机构对骨盆运动控制的可行性。为助行康复训练机器人的人体重心运动控制提供了一种有效方法,对康复机器人进一步研究具有一定的参考价值。Through the analysis on pelvis kinematic ride of the normal person, a kind of controlling mechanism has been put forward for the pelvis movement when a person is at walking. Using the close looped vector method to carrying out forward and reverse kinematic analyses, and a simulative analysis has been carried through under the environments of Madab/Simulink and SimMechanics. By the use of Pro/E, the displacement platform virtual prototype has been designed; the dynamic simulation of walking aid training was prosecuted, and the feasibility of walking aid training mechanism on the control of pelvis movement was testified. A kind of effective method has been provided for the movement control of human body barycenter of the walking aid recovery training robot, and bore certain referential value for the further study on the recovery robots.

关 键 词：康复机器人 助行训练 骨盆位姿 仿真 虚拟样机 

分 类 号：TH112[机械工程—机械设计及理论]