一种绳牵引上肢康复机器人结构设计与有限元分析  

Structure Design and Finite Element Analysis of a Rope Traction Upper Limb Rehabilitation Robot

作　　者：余俊炜 许洪斌 徐涛金 张成杰 路世青 Yu Junwei;Xu Hongbin;Xu Taojin;Zheng Chengjie;Lu Shiqing(College of Mechanical Engineering, Chongqing University of Technology, Chongqing 400054, China;Chongqing University of Arts and Sciences, Chongqing 402160, China;Graduate School of Science and Technology for Innovation, Yamaguchi University, Yamaguchi 755-8611, Japan)

机构地区：[1]重庆理工大学机械工程学院,重庆400054 [2]重庆文理学院,重庆402160 [3]山口大学,日本山口755-8611

出　　处：《机械传动》2018年第12期93-97,共5页Journal of Mechanical Transmission

基　　金：重庆市人工智能技术创新重大主题专项重点研发项目(cstc2017rgzn-zdyfX0010);重庆理工大学校级项目:两点悬臂绳牵引上肢康复机器人(YCX2016222);重庆市教委科学技术研究基础项目/应用基础研究(KJ1600919)。

摘　　要：针对现有上肢康复机器人具有惯性冲击大易造成患者二次伤害的问题,采用混联机构形式,设计一种绳牵引式上肢康复机器人的新构型。为保障该康复机器人的安全性和稳定性,采用ANSYS Workbench对上肢康复机器人结构进行静强度分析与模态分析,并应用多目标遗传算法对支撑机架进行了轻量化优化设计。分析结果表明,相比较优化前,支撑机架总质量减少了48%,同时得到优化后整体机架的固有特性,为后期控制策略做准备。Aiming at the problem that the upper limb rehabilitation robot has secondary damage caused by inertial impact,a new mechanism of a rope traction upper limb rehabilitation robot is designed by using the hybrid mechanism.To ensure the safety and stability of the rehabilitation robot,the static strength analysis and modal analysis of the structure of the upper limb rehabilitative robot is carried out by using ANSYS Workbench.Moreover,the multi-objective genetic algorithm is applied to the lightweight optimization design of the support frame.The result shows that the total mass of support frame after optimization is comparatively48%less than before.At the same time,the inherent characteristic of the whole frame is obtained,which is prepared for the later control strategy.

关 键 词：混联机构 绳牵引 康复机器人 有限元分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]