Motion Planning for a Cable-Driven Lower Limb Rehabilitation Robot with Movable Distal Anchor Points  

作　　者：Jinghang Li Keyi Wang Yanzhuo Wang Chao Wang 

机构地区：[1]College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin,150001,China

出　　处：《Journal of Bionic Engineering》2023年第4期1585-1596,共12页仿生工程学报（英文版）

基　　金：funded by the National Natural Science Foundation of China,Grant Number:52175006.

摘　　要：This article introduces a cable-driven lower limb rehabilitation robot with movable distal anchor points(M-CDLR).The traditional cable-driven parallel robots(CDPRs)control the moving platform by changing the length of cables,M-CDLR can also adjust the position of the distal anchor point when the moving platform moves.The M-CDLR this article proposed has gait and single-leg training modes,which correspond to the plane and space motion of the moving platform,respectively.After introducing the system structure configuration,the generalized kinematics and dynamics of M-CDLR are established.The fully constrained CDPRs can provide more stable rehabilitation training than the under-constrained one but requires more cables.Therefore,a motion planning method for the movable distal anchor point of M-CDLR is proposed to realize the theoretically fully constrained with fewer cables.Then the expected trajectory of the moving platform is obtained from the motion capture experiment,and the motion planning of M-CDLR under two training modes is simulated.The simulation results verify the effectiveness of the proposed motion planning method.This study serves as a basic theoretical study of the structure optimization and control strategy of M-CDLR.

关 键 词：Bionic robot Cable-driven parallel robot(CDPR) Lower limb rehabilitation robot Movable anchor point Motion planning SIMULATION 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]