平面机构在康复训练设备中的应用  

Application of planar mechanism to rehabilitation training equipment

作　　者：李宏亮[1] 侯悦民[1] 高宏[1] 黄民[1] 

机构地区：[1]北京信息科技大学机电工程学院,北京100192

出　　处：《北京信息科技大学学报（自然科学版）》2015年第5期44-47,共4页Journal of Beijing Information Science and Technology University

基　　金：北京教育委员会科技计划面上项目(No.KM201311230223);北京高等学校"青年英才计划"(YETP1495);北京信息科技大学研究生创新项目

摘　　要：对现有康复训练机器人结构复杂、适用性差的问题,提出了基于平面连杆机构实现空间运动的康复训练辅助设备设计方法;利用平面机构运动分析理论,实现了辅助设备空间运动分析;通过将空间运动轨迹向平面做投影和对辅助设备运动进行解耦,确定了辅助设备杆长参数的计算方法;通过改变辅助设备铰链点的安装位置,可获得不同的空间运动轨迹;利用实际坐标点计算出杆长后,通过Pro/E建立了辅助设备的三维模型并进行了运动仿真分析。该辅助设备主要是利用平面连杆机构的丰富连杆曲线进行康复训练;由两个平面连杆机构组成,结构简单、适用性强。To solve the existing problems of rehabilitation training robot with complex structure and poor applicability,a rehabilitation training auxiliary equipment design method is proposed and space motion is implemented,based on ＂planar linkage mechanism＂. A theory of plane mechanism motion analysis is used to analyze the spatial motion of auxiliary equipment. The spatial motion trajectory is projected to the planes and the motion of mechanism is decoupled in order to determine the calculation method of rod length parameter. Different spatial trajectories are obtained by changing the installation location of the hinge point. The length of the bar is obtained by the actual coordinates,then the 3D model is built and motion simulation is analyzed by Pro / E。The auxiliary equipment mainly makes use of many coupler curves for rehabilitation training and is composed of two planar linkages. The structure is simple and the applicability is good.

关 键 词：平面机构 空间运动 连杆曲线 康复训练 

分 类 号：TH122[机械工程—机械设计及理论]