踝关节康复四自由度广义球面并联机构的运动学分析及尺度优化  

Kinematics analysis and scale optimization of four degree of freedom generalized spherical parallel mechanism for ankle joint rehabilitation

作　　者：刘旭升 张建军[1,2] 刘承磊 牛建业 戚开诚 郭士杰[1,2] LIU Xusheng;ZHANG Jianjun;LIU Chenglei;NIU Jianye;QI Kaicheng;GUO Shijie(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,P.R.China;Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion,Tianjin 300130,P.R.China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]河北省机器人感知与人机融合重点实验室,天津300130

出　　处：《生物医学工程学杂志》2021年第2期286-294,共9页Journal of Biomedical Engineering

基　　金：国家自然科学基金项目(52075145);河北省自然科学基金重点项目(E2020202010);河北省重大科技成果转化专项(20281805Z);中央引导地方科技发展资金基础研究资助项目(206Z1801G)。

摘　　要：剖析人体踝关节生理结构及运动特性,提出一种四自由度广义球面并联机构来满足踝关节康复运动需求。采用螺旋理论分析机构运动特性,基于球坐标描述位置、欧拉角描述姿态的方法,建立机构位置逆解封闭矢量方程。根据逆解约束条件分析机构工作空间,以机构动球心工作空间匹配踝部胫距关节运动空间、动平台工作空间匹配踝部距下关节运动空间为目标,采用遗传算法对机构关键尺度参数进行优化设计。研究结果表明,该广义球面并联机构工作空间能够满足人体踝关节康复实际运动空间。通过本文研究结果,可为高匹配度踝关节康复机器人本体设计提供理论依据和实验参考。By analyzing the physiological structure and motion characteristics of human ankle joint,a four degree of freedom generalized spherical parallel mechanism is proposed to meet the needs of ankle rehabilitation.Using the spiral theory to analyze the motion characteristics of the mechanism and based on the method of describing the position with spherical coordinates and the posture with Euler Angle,the inverse solution of the closed vector equation of mechanism position is established.The workspace of mechanism is analyzed according to the constraint conditions of inverse solution.The workspace of the moving spherical center of the mechanism is used to match the movement space of the tibiotalar joint,and the workspace of the dynamic platform is used to match the movement space of subtalar joint.Genetic algorithm is used to optimize the key scale parameters of the mechanism.The results show that the workspace of the generalized spherical parallel mechanism can satisfy the actual movement space of human ankle joint rehabilitation.The results of this paper can provide theoretical basis and experimental reference for the design of ankle joint rehabilitation robot with high matching degree.

关 键 词：踝关节康复 广义球面并联机构 位置逆解 工作空间 尺度优化 

分 类 号：R496[医药卫生—康复医学] R687.4[医药卫生—临床医学]