定心矫形骨外固定机器人设计与分析  

Design and analysis of centering orthopedic bone external fixation robot

作　　者：苏鹏 来钰梁 张力 刘霖 李剑 Su Peng;Lai Yuliang;Zhang Li;Liu Lin;Li Jian(School of Mechanical and Electrical Engineering,Beijing Information Science and Technology University,Beijing 100192,China;Rehabilitation Hospital,National Research Center for Rehabilitation Technical Aids,Beijing 100176,China;School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192 [2]国家康复辅具研究中心附属康复医院,北京100176 [3]北京邮电大学自动化学院,北京100876

出　　处：《仪器仪表学报》2022年第11期262-273,共12页Chinese Journal of Scientific Instrument

基　　金：北京市自然科学基金-海淀原始创新联合基金(L192018);北京市教委科技计划(KM202011232009);国家自然科学基金(52005045,52005120)项目资助。

摘　　要：骨外固定技术为肢体矫形的重要治疗手段。针对现有骨外固定矫形机构在肢体旋转和牵伸矫形时存在的运动耦合、旋转错位等问题,借鉴RCM机构的构型优势,在传统Ilizarov外固定器的基础上设计了一种具有定心运动特征,易于实现单自由度独立运动的2R1T定心矫形骨外固定机器人。基于旋量理论,开展了传统Ilizarov骨外固定支架矫形的数学分析,并在此基础上,建立了2R1T定心矫形骨外固定机器人的旋量系与反旋量系,进行了支链选型与构型综合。最后,分析了机器人运动学位姿及工作空间,并结合矫形要求对机器人进行了矫形运动仿真分析和样机实验,基于胫骨的运动轨迹,得出机器人转动矫形范围为-15°~15°,误差范围为±0.5°,牵伸矫形范围为0~30 mm,误差范围为±0.2 mm,实现了矫形的量化与精准调控,保障了肢体矫形的安全性。Bone external fixation is an important treatment for limb orthopedics.There are some problems such as motion coupling and rotation dislocation in the existing fixator during limb rotation and stretching orthopedics.Drawing on the configuration advantages of RCM mechanism,a 2R1T centering orthopedic external fixation robot based on traditional Ilizarov external fixator is proposed in this paper.The proposed robot has centering motion characteristics and is easy to realize single freedom independent motion.Based on the Spinor theory,the mathematical analysis of the traditional fixation orthopedics is firstly carried out,then establish the Spinor system and anti-spinor system of the 2R1T centering fixation robot,and complete the branch chain selection and assembly.Finally,this paper analyzes the motion degree and workspace of the robot,and carries out the orthopedic dynamic simulation analysis and prototype experiment based on tibia motion trajectory.The experiment result shows that the rotation correction range of the robot is-15~15°,the error range is±0.5°,the range of drafting correction was 0~30 mm,and the error range is±0.2 mm,which realizes the quantification and accurate regulation of orthosis and ensures the safety of limb orthopedics.

关 键 词：RCM机构 旋量理论 机构构型 运动学 仿真分析 

分 类 号：TH781[机械工程—仪器科学与技术] TP242[机械工程—精密仪器及机械]