3-PRPS/RRR踝关节康复机器人运动机理研究与试验  

Research and Experiment on the Motion Mechanism of a 3-PRPS/RRR Ankle Rehabilitation Mechanism

作　　者：李辉 宁峰平 郭辉 李瑞琴[2] LI Hui;NING Fengping;GUO Hui;LI Ruiqin(Department of Mining Engineering,Lyuliang University,Lyuliang 033001,Shanxi,China;School of Mechanical Engineering,North University of China,Taiyuan 030051,Shanxi,China)

机构地区：[1]吕梁学院矿业工程系,山西吕梁033001 [2]中北大学机械工程学院,山西太原030051

出　　处：《兵工学报》2023年第10期3026-3037,共12页Acta Armamentarii

基　　金：山西省高等学校科技创新项目(2019L0978);吕梁学院引进博士科研启动经费项目(JY2019-1)。

摘　　要：为设计一种结构合理、适宜患者使用的踝关节康复机构,针对踝关节运动特点,提出一种3-PRPS/RRR并联机器人。采用旋量理论描述机器人的数学模型,推导得出该机器人具有3转动自由度;使用闭环矢量法得到机器人的位置逆解方程,利用粒子群优化算法计算机器人的位置正解;设定一组机器人的设计参数,建立由初值不断迭代的数值算法得到机器人的工作空间;推导机器人的雅克比矩阵,计算机器人在其工作空间内的奇异位形;通过生物力学软件建立人体骨肌系统,仿真得到使用该机器人进行踝关节康复训练时踝关节处肌肉的激活程度;搭建试验样机进行试验,验证机器人位置正/逆解、工作空间和奇异位形。研究结果表明:CAD模型和理论计算结果一致,结合试验验证了机器人位置正/逆解的正确性;试验样机的工作空间能够满足踝关节康复训练所需的运动范围,且机器人在其工作空间内不存在奇异位形;使用该机器人进行康复训练时能够有效地激活肌肉,达到康复训练的目的。To design a rational and patient-suited ankle joint rehabilitation mechanism,a novel 3-PRPS/RRR parallel robot is proposed,tailored to the specific characteristics of ankle joint movement.The mathematical model of the mechanism is described using the screw theory,demonstrating its three degrees of freedom.The closed-loop vector method is used to obtain the inverse kinematics of the mechanism,and the particle swarm optimization is used to calculate the forward kinematics.Design parameters are meticulously set,and the workspace of the mechanism is determined by the iterative numerical algorithm based on the initial value.The biomechanical software is used to establish the human musculoskeletal system,and the activation of muscles is simulated when the mechanism is used for ankle rehabilitation training.Finally,an experimental prototype is built to verify the forward and inverse kinematics,workspace and singular configuration of the mechanism.The results show that the CAD model is consistent with the theoretical calculations,thereby validating the accuracy of the forward and inverse kinematics of the mechanism through experiments.The working space of experimental prototype can meet the range of motion required by ankle rehabilitation training,and there is no singular configuration in the working space of the mechanism.This mechanism can effectively activate muscles and achieve the purpose of rehabilitation training.

关 键 词：康复机器人 踝关节 位置正逆解 工作空间 奇异位形 骨肌系统 

分 类 号：TH112.1[机械工程—机械设计及理论]