一种新型多位姿康复机器人机构设计与分析  

Design and analysis of a new multi-position rehabilitation robot

作　　者：任刚跃 姜礼杰 张方双 王勇 REN Gangyue;JIANG Lijie;ZHANG Fangshuang;WANG Yong(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学机械工程学院

出　　处：《合肥工业大学学报（自然科学版）》2019年第8期1020-1027,共8页Journal of Hefei University of Technology：Natural Science

基　　金：国家自然科学基金资助项目(41076061);科技型中小企业技术创新基金资助项目(11C26213402042)

摘　　要：针对临床缺少多位姿康复训练设备的现状,文章研制了一种新型多位姿康复机器人,该机器人能够满足偏瘫患者在卧、坐、站等不同位姿下进行康复训练。首先介绍了机器人各部分组成及机构设计方案,通过多位姿座椅、脚踏式训练机及运动底座的有机结合,实现了多种位姿的转换与训练轨迹的规划;然后在矢状面内建立了人-机模型,对其运动学、工作空间进行了分析;最后通过样机试验验证了该机器人工程实践的可行性。Owing to the absence of multi-position rehabilitation training equipment in clinical practice, a novel rehabilitation robot was developed, which can meet the demand of the rehabilitation training of patients with hemiplegia in different postures such as lying, sitting and standing. Firstly, the components and mechanism design of the robot were introduced. Through the function combination of multi-position seat and pedal training machine and the moving base, the robot can achieve the conversion of various postures and training trajectory planning. Then, the human-machine model was established in the sagittal plane, and the kinematics and workspace of the robot were analyzed. Finally, the feasibility of the robot in engineering practice was verified by prototype test.

关 键 词：多位姿康复机器人 机构设计 机构分析 运动学分析 工作空间 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]