肘关节康复机器人机构设计及其运动学分析  

Mechanism Design and Kinematics Analysis of Elbow Joint Rehabilitation Robot

作　　者：李博超 项忠霞[1] 刘传耙 赵泽茂 刘鹏举 Li Bochao;Xiang Zhongxia;Liu Chuanba;Zhao Zemao;Liu Pengju(The Ministry of Education Key Laboratory of Mechanism Theory and Equipment Design,Tianjin University,Tianjin 300350,China)

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300350

出　　处：《机械科学与技术》2020年第9期1313-1322,共10页Mechanical Science and Technology for Aerospace Engineering

基　　金：天津市智能制造科技重大专项(16ZXZNGX00130)资助。

摘　　要：现有研究中针对肘关节康复运动的机构设计几乎均采用串联机构作为机构本体,普遍存在精度低、运动惯性大、容易造成肘部肌肉的损伤等问题。鉴于此,本文设计了一种可实现肘关节二自由度康复运动的(2-PRR-S)R-PRCR并联机器人机构;并使用旋量理论验证了机构的自由度特性。利用空间几何分析法推导出机构位置逆解与位置正解表达式;进而给出了机构的雅克比矩阵,然后结合雅克比矩阵分析了机构的奇异位形。依据机构的约束条件,确定了机构的初始姿态工作空间;以最大化姿态工作空间为优化目标,并采用遗产算法对机构进行了尺度优化。基于人体肌肉运动机理,分析了肘关节康复运动时的训练效果,验证了所设计的并联机构的适用性,为后续肘关节康复训练策略的研究奠定了基础。In the existing researches,the mechanism designs of elbow rehabilitation exercise almost use series mechanism as the body of the mechanism.There are many problems,such as low accuracy,large inertia,easy to cause injury to elbow muscles,and so on.In view of this,a(2-PRR-S)R-PRCR parallel robot mechanism is designed,which can realize 2 degrees of freedom rehabilitation movement of elbow joint,and verify the degree-of-freedom characteristics of the mechanism by using the screw theory.The inverse and forward position solutions of the mechanism are derived by using spatial geometric analysis method,and then the Jacobian matrix of the mechanism is given,and the singularity of the mechanism is analyzed by combining the Jacobian matrix.According to the constraints of the mechanism,the initial pose workspace of the mechanism is determined,and the goal of optimization is to maximize the pose workspace,and the mechanism is optimized by genetic algorithm.Based on the mechanism of human muscle movement,the training effect of elbow rehabilitation exercise is analyzed,and the applicability of the designed parallel mechanism is verified,which lays a foundation for the follow-up study of elbow rehabilitation training strategy.

关 键 词：并联机器人机构 肘关节康复运动 位置逆解 雅克比矩阵 姿态工作空间 遗传算法 机构适用性 

分 类 号：TH112[机械工程—机械设计及理论]