坐卧式下肢康复机器人的机构设计与仿真  

Mechanism Design and Simulation of Sitting and Lying Lower Limb Rehabilitation Robot

作　　者：黎颢宇 冯永飞 刘国伟 彭旭 牛建业[3] 尹东颖 Li Haoyu;Feng Yongfei;Liu Guowei

机构地区：[1]宁波大学机械工程与力学学院,浙江宁波315211 [2]唐山海佑机器人科技有限公司,河北唐山063200 [3]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机械制造》2022年第7期35-40,共6页Machinery

基　　金：浙江省自然科学基金青年基金资助项目(编号:LQ21E050008);宁波市自然科学基金资助项目(编号:2019A610110);宁波大学科研基金资助项目(编号:XYL19029)。

摘　　要：针对脑卒中早期卧床患者身体虚弱、平衡能力差的特点,提出一种坐卧式下肢康复机器人,可以实现患者下肢在矢状面和冠状面内的空间运动。对这一康复机器人进行机构设计,对其连杆机构进行运动学正反解计算,求解速度雅可比矩阵,并通过五次多项式插值规划路径。为提高这一康复机器人在操作空间中轨迹跟随的准确性,设计比例微分交叉耦合控制器,并通过仿真验证其优越性。Aiming at the characteristics of frailty and poor balance ability of bedridden patient in the early stage of stroke, a sitting and lying lower limb rehabilitation robot was proposed, which can realize the spatial motion of the patient’s lower limbs in the sagittal plane and coronal plane.The mechanism design of this rehabilitation robot was carried out, the forward and inverse kinematics solutions were calculated for its linkage mechanism, the velocity Jacobian matrix was solved, and the path was planned by quintic polynomial interpolation.In order to improve the tracking accuracy of this rehabilitation robot in the operation space, a proportional-differential cross-coupling controller was designed, and its superiority was verified by simulation.

关 键 词：康复机器人 设计 仿真 

分 类 号：TH122[机械工程—机械设计及理论] TP242.3[自动化与计算机技术—检测技术与自动化装置]