卧式下肢康复机器人动力学建模及控制研究  

Dynamics modeling and control of horizontal lower limbs rehabilitation robot

作　　者：孙洪颖[1] 张立勋[1] 王岚[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001

出　　处：《高技术通讯》2010年第7期733-738,共6页Chinese High Technology Letters

基　　金：国家自然科学基金(60575053)资助项目

摘　　要：为掌握人体下肢在康复训练过程中的力学特性,对卧式下肢康复机器人进行了动力学建模和仿真研究。考虑到机器人利用机构牵引人体下肢,辅助患者实现对髋、膝、踝关节的康复训练,将人体下肢和机构作为一个整体,应用闭环矢量法和牛顿-欧拉法建立了机器人的运动学及动力学模型,并以动力学模型为基础,基于计算力矩法设计了控制器,以轨迹跟踪为目标进行了仿真研究。仿真结果表明,该控制方案对康复训练是有效的,并且动力学模型能快速、有效地给治疗师和患者提供训练参数,为制定有效的康复训练策略和进行动态性能分析提供理论依据。To realize the dynamic characteristics of lower limbs during rehabilitation training, the dynamic modeling and the simulation research on horizontal lower limbs rehabilitation robots were done. Considering the robots use a mechanism to pull lower limbs to assist the rehabilitation training of pelvis, knees and ankles, the authors took the lower limbs and the link mechanism as a whole, and established the kinematics constraint equations and the dynamics equations using the closed loop vector method and the Newton-Euler method. The controller was designed using the account moment method based on the dynamics model, and the simulation of trajectory tracking control was done. The simulation result shows that the control method is effective in rehabilitation training, which can provide training parameters for the therapists and the patients instantly and provide a theoretical basis for establishing the effective rehabilitation training tactics.

关 键 词：卧式下肢康复机器人 动力学建模 牛顿-欧拉法 计算力矩法 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]