1R2T绳索牵引骨盆康复机器人动力学  

Dynamics on pelvis for a 1R2T wire-driven parallel robot

作　　者：王克义[1] 张立勋[1] 张今瑜 刘富强 

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：《江苏大学学报（自然科学版）》2010年第2期131-135,共5页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(60575053);高等学校博士学科点专项科研基金资助项目(20060217024);黑龙江省自然科学基金资助项目(42400621-1-09139)

摘　　要：运用影响系数方法对1R2T绳索牵引骨盆康复机器人的运动学进行了分析,得出骨盆运动与绳索运动的映射关系,通过Matlab对骨盆步态中期望轨迹进行仿真,得到各根绳索加速度变化曲线;基于机器人力螺旋平衡方程,并利用牛顿欧拉法和达朗伯原理建立了机器人动力学模型.运用仿真方法对机器人逆动力学特性进行分析,得出绳索最小拉力阈值的设置对各根绳索拉力变化规律具有影响的结论.运用Matlab和Adams建立了机器人动力学模型,分别对是否考虑绳索刚度两种不同情况进行了联合仿真,结果证明所建模型的正确性,同时得出绳索最小拉力阈值和绳索刚度对系统运动性能的影响规律.By using the influence coefficients method,the kinematics of the 1R2T wire-driven pelvic rehabilitation robot was analyzed.The relationship of mapping between the motion of pelvis and wire was obtained.Matlab was used to simulate the pelvic expected trajectory in walking,and the variation curves for each wire′s acceleration were obtained.Based on spiral force balance equation of robot and by using Newton-Euler method and D′Alembert′s principle,the dynamic equations were established.By using simulation method,characteristics of robot′s inverse dynamics were analyzed.It is concluded that the set of the threshold of the minimum tensile force actually has influence on regularity for change of each wire′s tensile force.By using Matlab and Adams,the kinetic model of robot was established,the simulation was carried out for the case of whether considering rope stiffness or not.The relevant model is proved to be correct,and the regularity for change of kinematic performance influenced by both minimum threshold and cable stiffness is obtained.

关 键 词：绳索牵引 康复机器人 动力学 刚度 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]