一种康复训练机器人的机构位置逆解  

Inverse Solution of Mechanism Position of a Kind of Rehabilitation Raining Robot

作　　者：周烨[1] ZHOU Ye(Changzhou Liuguojun Higher Vocational and Technical School,Changzhou 213000,China)

机构地区：[1]常州刘国钧高等职业技术学校,江苏常州213000

出　　处：《新技术新工艺》2022年第10期29-32,共4页New Technology & New Process

摘　　要：康复训练机器人的应用日益增多,同时机器人机构的正解和逆解是当前康复训练机器人的研究热点之一。选取某一康复训练机器人机构为研究对象,在综合对比分析后对肩关节康复训练机器人机构的构型进行了选择,确定将3-RRS球面并联机构来实现肩关节构型;在对其抽象简化后进行了运动分析,并在运动分析的基础上采用矩阵法和闭环矢量法相结合的方法详细推导了该机器人机构的位置逆解,得到了在期望执行动作的结果下机构的输入条件,也即在期望的康复训练结果下康复训练机器人机构3个支链的具体输入函数,获得了机构进行反向设计的函数。该分析计算能够以康复训练的最终执行动作作为设计目标和已知条件对机器人的机构进行设计,从而求得机器人机构的杆长、夹角等在内的各参数,在康复机器人的设计和研发过程中具有较高的实际应用价值。The application of rehabilitation training robot has been increasing day by day,at the same time,the positive solution and inverse solution of robot mechanism was one of the research hotspots of rehabilitation training robot.A rehabilitation training robot mechanism was selected as the research object.After comprehensive comparative analysis,the configuration of the shoulder rehabilitation training robot mechanism was selected,and the 3-RRS spherical parallel mechanism was determined to realize the shoulder configuration.Analysis of motion was finished after abstraction and simplification,and based on the motion analysis,the position inverse solution of the robot mechanism was derived in details by using the combination of matrix method and closed-loop vector method.The input conditions of the mechanism under the expected action results were gotten,that was,the specific input functions of the three branches of the rehabilitation training robot mechanism under the expected rehabilitation training results were gotten,so that the function of the reverse design of the mechanism were obtained.The analysis and calculation could take the final executive action of rehabilitation training as the design goal and known conditions to design the mechanism,so as to obtain the parameters including the rod length and included angle of the mechanism,which had strong practical application value and meaning in the design and development of the rehabilitation robot.

关 键 词：康复训练机器人 肩关节康复训练 机构 位置逆解 

分 类 号：TH112[机械工程—机械设计及理论]