面向踝关节康复的四自由度广义球面并联机构运动学性能  

Kinematic Performance of 4-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

作　　者：刘承磊 张建军[1,2,3] 牛建业 刘腾 戚开诚[1,2] 郭士杰 LIU Chenglei;ZHANG Jianjun;NIU Jianye;LIU Teng;QI Kaicheng;GUO Shijie(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401;Key Laboratory of Robot Perception and Human-Machine Fusion,Hebei Province,Tianjin 300130;National Engineering Research Center for Technological Innovation Method and Tool,Hebei University of Technology,Tianjin 300401)

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 [3]河北工业大学国家技术创新方法与实施工具工程技术研究中心,天津300401

出　　处：《机械工程学报》2021年第21期45-54,共10页Journal of Mechanical Engineering

基　　金：国家自然科学基金(52075145);河北省自然科学基金重点(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(206Z1801G)资助项目。

摘　　要：针对现有踝关节康复机器人运动特性与人体踝关节实际运动特性存在明显差异,导致人机相容性不理想的问题,基于高匹配度的U_(1)U_(2)型踝关节运动拟合模型,提出一种适用于踝关节康复且结构紧凑的四自由度广义球面并联机构。基于螺旋理论分析其运动及约束特性,论证其与踝关节运动拟合模型运动的一致性;分别建立机构的位置及姿态运动学模型,证明了该机构的位置与姿态之间运动学完全解耦;基于雅可比矩阵极其条件数分析,阐明该机构在纯背伸趾屈和纯内外翻运动中均具有运动学的完全各向同性性质,且在踝关节工作空间内具有较好的灵巧性及可操作度,并无奇异位形等病态位置存在,通过数据对比验证该机构具有较好的运动学特性,适用于踝关节康复。In the previous rehabilitation robot research,the proposed ankle models have distinctions with the human ankle bone structure.It leads to the unsatisfactory human-machine compatibility of ankle rehabilitation robots constructed based on the fitting onto the motion of these models.A compact 4-DOF generalized spherical parallel mechanism is proposed based on the motion fitting models U_(1)U_(2).In order to prove the feasibility of the mechanism,its motion and constraint characteristics are analyzed based on the screw theory,and its motion consistency with the motion fitting model is discussed.The position and orientation kinematics model of the mechanism were established separately,which proved that the kinematics between the position and orientation is completely decoupled.By analyzing its Jacobian matrix and condition number,it is clarified that the mechanism has kinematic fully-isotropic properties in single direction movement,and has excellent dexterity and manipulability in the ankle working space,and no singularity.It is verified by data comparison that the mechanism has good kinematic characteristics and is suitable for ankle rehabilitation.

关 键 词：踝关节康复 运动拟合模型 广义球面并联机构 运动学分析 

分 类 号：TH112[机械工程—机械设计及理论]