新型RR-RURU踝关节康复机器人机构的设计与分析  

Design and Analysis of a Novel RR-RURU Ankle Rehabilitation Robot Mechanism

作　　者：张彦斌[1,2,3] 荆献领 韩建海 陈子豪[1] ZHANG Yanbin;JING Xianling;HAN Jianhai;CHEN Zihao(School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang, Henan,471003;Henan Provincial Key Laboratory of Robotics and Intelligent System,Luoyang, Henan,471023;Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang, Henan,471003)

机构地区：[1]河南科技大学机电工程学院,洛阳471003 [2]河南省机器人与智能系统重点实验室,洛阳471023 [3]机械装备先进制造河南省协同创新中心,洛阳471003

出　　处：《中国机械工程》2019年第14期1734-1741,共8页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50905055);河南省高等学校重点科研项目基础研究计划资助项目(18A460001);河南省科技攻关计划资助项目(192102210221)

摘　　要：基于无耦合RR-RURU转动并联机构设计出一种新型踝关节康复机器人。利用螺旋理论对机构进行了运动输出特性分析和自由度计算;推导出机构动平台的姿态方程和角速度方程,讨论了机构满足运动学完全各向同性的结构条件;根据机构分支运动链的运动螺旋系的线性相关性,分析了机构的运动学奇异性并给出其奇异位形;研究了机构的工作空间,得到其可达工作空间的三维图形。绘制出新型踝关节康复机器人的CAD模型,利用临床医学步态分析数据(CGA)得到其输出角位移曲线,并对其动力学进行了虚拟样机仿真。研究结果为该新型踝关节康复机器人的样机试制提供了理论基础。A novel ankle rehabilitation robot was designed based on the uncoupled RR-RURU rotational parallel mechanism.The kinematic output characteristics mechanism was analyzed and the degree of freedom was calculated in terms of the screw theory.Mathematical models of the posture and the angular velocity of the platform were established.Structural conditions of the fully-isotropic performance for the mechanisms were discussed in detail.Singularity was analyzed based on the linear dependence of the kinematic screw system of the first limb and the singular configurations were given as well.Workspace was investigated and the three-dimensional graphic was also described.Finally, CAD model of the novel ankle rehabilitation robot were given.The output angular displacement curves of the robot were obtained by means of the clinical gait analysis data (CGA).In addition, the dynamics of the ankle rehabilitation robot was simulated by using the virtual prototype.The results provide the theoretical basis to develop the physical prototype of the ankle rehabilitation robots.

关 键 词：踝关节康复机器人 并联机构 运动学分析 奇异性 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]