混联式柔性踝关节康复机构设计及运动性能分析  

Design and kinematic performance analysis of ropedriven hybrid mechanism for ankle rehabilitation

作　　者：王海芳 李广宇 李鸣飞 崔阳阳 陈晓波 WANG Haifang;LI Guangyu;LI Mingfei;CUI Yangyang;CHEN Xiaobo(School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,Hebei,China;Guidance and Control Systems Research Department,Southwest Technical Institute of Physics,Chengdu 610041,Sichuan,China)

机构地区：[1]东北大学秦皇岛分校控制工程学院,河北秦皇岛066004 [2]西南技术物理研究所制量与控制系统研究部,四川成都610041

出　　处：《中国工程机械学报》2022年第2期146-150,共5页Chinese Journal of Construction Machinery

基　　金：国家自然科学基金资助项目(61703079)。

摘　　要：根据踝关节的生理结构特点以及对踝关节康复训练机构的研究现状,针对刚性驱动杆件惯性大、容易产生惯性冲击,以及康复机构与患者踝关节两者的转动中心不能重合造成反复扭伤的问题,设计了一种柔性驱动混联式的踝关节康复机构。首先介绍了康复机构的整体结构;然后分析了机构的自由度并推导出运动学正反解,并建立了Jacobian矩阵;最后,基于雅可比矩阵分析了机构的运动性能。结果表明,所设计的踝关节康复机构能够满足患者康复后期踝关节康复运动治疗的要求。According to the physiological structure characteristics of the ankle joint and the research status of ankle rehabilitation training institutions,aiming at the problem that rigid drive rod has large inertia,easy to produce inertia impact and the rotation center of rehabilitation mechanism and patient’s ankle joint can not coincide,a flexible drive hybrid ankle rehabilitation mechanism is designed.Firstly,the overall structure of rehabilitation institutions is introduced.Then,the degree of freedom of the mechanism is analyzed and the forward and inverse kinematics solutions are derived,and the Jacobian matrix is established.Finally,the motion performance of the mechanism is analyzed based on the Jacobian matrix.The results show that the designed ankle rehabilitation mechanism can meet the requirements of ankle rehabilitation exercise therapy in the later stage of rehabilitation.

关 键 词：柔性驱动 运动学 工作空间 混联机构 踝关节康复 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]