1R2T-1R型绳索驱动下肢康复机器人运动学及其工作空间  

1R2T-1R Type Rope-driven Lower Limb Rehabilitation Robot Kinematics and Its Workspace

作　　者：王志军 王俊鹏 Wang Zhijun;Wang Junpeng(College of Mechanical Engineering,North China University of Science and Technology,Tangshan 063210,China)

机构地区：[1]华北理工大学机械工程学院,河北唐山063210

出　　处：《机械传动》2023年第10期110-116,共7页Journal of Mechanical Transmission

基　　金：河北省高等学校科学技术研究项目(ZD2020151);唐山市科技创新团队培养计划项目(21130208D);华北理工大学培育基金项目(JP201505)。

摘　　要：针对下肢运动偏瘫患者,基于人体下肢运动规律,提出一种1R2T-1R型绳索驱动下肢康复机器人,并建立了完整模型。对该机器人进行运动学正逆解分析,并验证其正确性;基于蒙特卡洛法,在Matlab环境中求解该机器人在力封闭前提下的可控工作空间和实际工作空间,并进行了对比。结果表明,该康复机器人构型设计合理,其工作范围可以满足患者康复训练的需求。研究为后续的参数优化和轨迹规划提供了参考依据。For patients with lower limb motor hemiplegia,a 1R2T-1R type rope-driven lower limb rehabilitation robot is proposed and its complete model is built based on human lower limb movement patterns.The kinematic forward and inverse solution analysis is carried out for this robot and its correctness is verified.Based on the Monte Carlo method,the controllable workspace and the actual workspace of this robot under the premise of force closure are solved in the Matlab environment and compared.The results show that the rehabilitation robot has a reasonable configuration and its working range can meet the needs of patients'rehabilitation training,which provides some reference for subsequent parameter optimization and trajectory planning.

关 键 词：绳索驱动 康复机器人 运动学 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R493[自动化与计算机技术—控制科学与工程]