3-UCU并联驱动式下肢外骨骼机构运动学分析  

Kinematic Analysis of 3-UCU Parallel Driven Lower Limb Exoskeleton Mechanism

作　　者：陈铸 李恒 CHEN Zhu;LI Heng(School of Mechanical Engineering,Sichuan University,Chengdu 610065,China)

机构地区：[1]四川大学机械工程学院,四川成都610065

出　　处：《机械》2023年第3期72-80,共9页Machinery

摘　　要：设计了一款并联驱动式下肢外骨骼机构,髋关节采用3-UCU型并联机构,膝关节采用UCU-R型并联机构,踝关节为欠驱动球铰机构,计算出机构自由度并进行奇异性分析,机构在工作空间内不存在正、逆解奇异。采用多体系统理论对外骨骼机构进行运动分析,推导出同一坐标系下各部件上任意参考点的相对位置计算方法,建立机构位姿正逆解数学模型,借助MATLAB软件对外骨骼并联机构的工作空间和驱动轴行程进行了数学编程仿真分析,结果显示,机构工作空间形状紧凑连续,没有明显空洞,因此该机构工作性能良好。采用PSO算法进行位姿正解,验证了正、逆解算法的结果一致性。A parallel driven lower limb exoskeleton mechanism is designed by using 3-UCU parallel mechanism for the hip joint,UCU-R parallel mechanism for the knee joint,and underactuated spherical joint mechanism for the ankle joint.The degree of freedom of the mechanism is calculated and the singularity is analyzed.There is no forward and inverse singularity in the workspace.The multi-body system theory is used to analyze the motion of exoskeleton mechanism,and the relative position calculation method is adopted to derive any reference point on each component in the same coordinate system.The forward and inverse mathematical model of the mechanism is established.The mathematical programming simulation analysis of the workspace and the drive shaft stroke of exoskeleton parallel mechanism is carried out by using MATLAB software.The results show that the shape of the workspace of the mechanism is compact and continuous without obvious cavity,so the mechanism has good working ability.PSO algorithm is applied to the position forward solution,and the consistency of the results of the forward and inverse solution algorithm is verified.

关 键 词：3-UCU 并联驱动 下肢外骨骼 运动学 奇异性 工作空间 PSO算法 

分 类 号：TH112[机械工程—机械设计及理论]