前庭康复6-PSS并联机器人设计与ADAMS仿真  

Design and ADAMS simulation of 6-PSS vestibular rehabilitation parallel robot

作　　者：晏祖根[1] 窦家明 刘玉斌[2] 孙智慧[1] 桑华 康琪麟 YAN Zu-gen;DOU Jia-ming;LIU Yu-bin;SUN Zhi-hui;SANG Hua;KANG Qi-lin(College of Light Industry,Harbin University of Commerce,Harbin 150028,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨商业大学轻工学院,哈尔滨150028 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《哈尔滨商业大学学报（自然科学版）》2021年第5期569-575,共7页Journal of Harbin University of Commerce：Natural Sciences Edition

基　　金：国家重点研发计划项目课题(2019YFB1311404)资助。

摘　　要：前庭功能损伤是运动功能障碍患者的一个主要病因.为帮助前庭障碍患者进行科学有效的康复训练,基于Stewart机构,设计了一种新型的直线电机驱动的前庭康复6-PSS并联机器人.建立了机器人运动学模型和拉格朗日方程动力学模型,求取了机器人运动学逆解.建立了机器人的ADAMS虚拟样机并开展仿真研究,仿真结果表明,机器人动平台最大加速度为1.2 m/s^(2),可有效刺激患者的前庭觉,进行前庭障碍患者康复训练内容.Vestibular dysfunction is a major cause of motor dysfunction.In order to help patients with vestibular disorders to carry out scientific and effective rehabilitation training,a new type of vestibular rehabilitation 6-PSS parallel robot driven by linear motor was designed based on Stewart mechanism.The kinematics model and Lagrange equation dynamics model of the robot were established,and the inverse kinematics solution of the robot was obtained.ADAMS virtual prototype of the robot was established and simulation research was carried out.The simulation results showed that the maximum acceleration of the robot moving platform was 1.2 m/s^(2),which could effectively stimulate the vestibular sensation of patients and carry out rehabilitation training for patients with vestibular disorders.

关 键 词：前庭康复 并联机器人 运动学 拉格朗日动力学 ADAMS 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]