混联式踝关节康复机构设计与输出受限控制研究  

Research on the Design and Output Constrained of HybridAnkle Joint Rehabilitation Mechanism

作　　者：梅小龙 白峭峰[2] 田勇 邢兵锁[1] 顾薇[1] MEI Xiaolong;BAI Qiaofeng;TIAN Yong;XING Bingsuo;GU Wei(School of M&E Engineering,Tongling Polytechnic,Tongling 244000,China;School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]铜陵职业技术学院机械电气工程系,安徽铜陵244000 [2]太原科技大学机械工程学院,山西太原030024

出　　处：《吉林化工学院学报》2023年第3期68-73,共6页Journal of Jilin Institute of Chemical Technology

基　　金：山西省重点研发计划项目(201903D121051);2020年度铜陵职业技术学院科学研究项目(tlpt2020NK004)。

摘　　要：踝关节损伤是人体损伤常见形式,踝关节康复治疗受到越来越多的关注与研究。混联机构用于踝关节损伤后康复运动中,可有效提高康复机械装置康复效果。在对人体踝关节的结构特征和运动形式解析的基础上,提出一种4自由度的(2-UPU-PU)&R混联式康复机构。利用修正的K-G公式分析脚踝康复机构的自由度,基于闭环矢量法求解了机构的位置逆解,采用搜索法求解机构的工作空间,设计位置及速度输出受限控制系统,验证所设计机构能满足康复需求,保障使用安全性,为后续控制系统设计提供理论指导。Ankle injury is a common form of human injury,and ankle rehabilitation has received more and more attention and research.The hybrid mechanism was used in the rehabilitation exercise after ankle injury,which can effectively improve the rehabilitation effect of the rehabilitation mechanical device.A 4-degree of freedom(2-UPU-PU)&R hybrid rehabilitation mechanism was proposed based on the analysis of the structural characteristics and motion form of human ankle joint.By using the modified K-G formula to analyze the degree of freedom of the ankle rehabilitation mechanism,the inverse solution of the position of the mechanism was solved based on the closed-loop vector method,and the working space of the mechanism was solved by using the search method.the limited output control system of position and speed was designed to verify that the designed mechanism can meet the needs of rehabilitation,ensure the safety of use,and provide theoretical guidance for the subsequent control system design.

关 键 词：混联机构 踝关节 工作空间 输出受限控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]