绳索牵引康复机器人样机的研制及实验研究  

Prototype development and experimental study of a wire-driven parallel rehabilitative robot

作　　者：刘攀[1] 张立勋[1] 王克义[1] 万晓正 

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9期939-943,共5页Chinese High Technology Letters

基　　金：国家自然科学基金(60575053);高等学校博士学科点专项科研基金(20060217024)资助项目

摘　　要：针对在康复训练过程中如何协调控制患者的骨盆运动轨迹的问题,研制了由4根绳索牵引的三自由度绳索牵引并联机器人样机,用来实现对患者骨盆平面运动轨迹的控制。建立了机器人的动平台力学平衡方程,在此基础上分析了机器人系统的刚度问题,提出了一种力/位并行控制策略——位置环和力环分别用于实现机器人动平台运动轨迹和绳索张力大小的控制,并对此策略进行了实验验证。实验结果表明,机器人的力/位控制策略是可行的,可以通过调整绳索的内张力来改变系统刚度,实现对机器人系统的柔顺性控制。To make a further study of the compliance control of wire-driven parallel rehabilitative robots during the course of rehabilitative training, a 3-DOF wire-driven parallel robot was designed as the experimental prototype to coordinate and control the trainer pelvis movements. Based on the force balance equation of the end-effector, the stiffness problem about the robot system was analyzed and one kind of force/position parallel control strategy that the position loop would realize the end-effector motion trajectory and the force loop would control the wire tension was proposed. The experimental results show that the robot systematic stiffness is related with the wire tension and can be changed to realize the compliance control of a robot system by adjusting the wire tension.

关 键 词：绳索牵引 康复机器人 力/位控制 柔顺性控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]