助行训练机器人骨盆位姿控制机构动力学研究  

Dynamic pelvis position control mechanism for a walking aided training robot

作　　者：刘富强 张立勋[1] 董玉红[2] 夏振涛 

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 [2]哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨150080

出　　处：《哈尔滨工程大学学报》2009年第10期1152-1158,共7页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(60575053);科技部初创期小企业创新基金资助项目(07C26212301225)

摘　　要：为了辅助病人完成行走训练,提出了一种助行训练机器人骨盆位姿控制机构.根据该机构的原理简图和各杆件的受力,利用牛顿定律分别建立了各杆件的动力学方程.基于联立约束法建立了骨盆位姿控制机构的动力学模型,并根据骨盆位姿的运动规划完成了动力学仿真分析,得到了机构的驱动力(矩)曲线和各杆件的加速度曲线.仿真结果表明,该骨盆位姿控制机构能够实现人体骨盆的位姿控制,动力学仿真可以方便地获得机构的运动参数.该研究为实现助行训练机器人的控制及性能改进提供了理论依据.In order to improve the rehabilitation of patients＇gaits, a training robot was developed with a four degrees of freedom mechanism to control pelvis position during aided walking. In terms of the principles of the mechanism and the forces acting on each linkage, the dynamic equations of every bar were built up by applying Newtonian laws, and appropriate motion constraint equations were proposed. Based on the simultaneous constraint method, a dynamic model of the pelvis position control mechanism was established. Dynamic simulation analysis was carried out according to motion planning for the pelvis position. The driving forces, torque and acceleration curves of the mechanism were derived. The simulation results illustrate that the mechanism can implement positional control of the human pelvis, and by dynamics simulation, the motion parameters of the mechanism can be conveniently obtained. The research provides a theoretical basis for control and performance improvement in gait rehabilitation robots.

关 键 词：助行训练 骨盆位姿 动力学 控制机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]