绳牵引腰部康复训练并联机器人的建模和控制仿真  

Modeling and Control Simulation of a Cable-Driven Waist Rehabilitation Parallel Robot

作　　者：江铭煜 李宏胜[1] 王宇奇 JIANG Mingyu;LI Hongsheng;WANG Yuqi(School of Automation,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院自动化学院,江苏南京211167

出　　处：《机械》2023年第11期53-61,共9页Machinery

基　　金：江苏省科技项目(BE2014025)。

摘　　要：随着腰部康复需求增加,为了给患者提供更有效的治疗服务,本文设计了一种适用于腰部康复训练的四绳三自由度绳牵引并联机器人。基于所设计的机器人结构,建立其运动学和动力学模型;针对牵引绳拉力问题,将机器人绳拉力分解为有效驱动力和内力,从而确保机器人在运动过程中满足动力学方程;针对康复训练机器人需要对位置和力同时控制的要求,设计了一种力/位混合控制律,并以典型人体腰部康复训练轨迹为实例进行仿真实验。结果表明,所设计的机械结构可行,所设计的控制律正确、可靠,力/位控制精度良好。With the increasing demand for waist rehabilitation,in order to provide more effective treatment services for patients,a four-cable three-degree-of-freedom cable-driven parallel robot for waist rehabilitation training is designed in this paper.Based on the designed robot structure,kinematics and dynamics models are established.To solve the problem of traction cable tension,the robot cable tension is decomposed into effective driving force and internal force,to ensure that the robot meets the dynamic equation during motion.A force-position hybrid control law is designed to meet the requirements of simultaneous control of position and force for rehabilitation training robots,and the simulation experiment based on a typical human waist rehabilitation training trajectory is conducted.The results indicate that the designed mechanical structure is feasible,the designed control law is correct and reliable,and the force-position control accuracy is good.

关 键 词：绳牵引并联机器人 康复训练 数学建模 力/位混合控制 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]