(2-PUR/UPS)&R混联式颈椎外骨骼的设计及运动性能分析  

Design and Kinematic Performance Analysis of the(2-PUR/UPS)&R Hybrid Cervical Exoskeleton

作　　者：宋胜涛[1] 魏占宝 任毅明 武文娇 Song Shengtao;Wei Zhanbao;Ren Yiming;Wu Wenjiao(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《机械传动》2023年第12期75-81,共7页Journal of Mechanical Transmission

基　　金：山西省重点研发计划(201903D421051)。

摘　　要：针对颈椎病患者的颈部牵引康复训练,提出了一种混联式(2-PUR/UPS)&R颈椎康复机器。该机器具有3R1T共4个自由度,符合人体颈椎的活动度要求;通过对该机器的运动学性能分析,验证其是否可以应用在人体颈椎康复领域。首先,利用螺旋理论和修正的Kutzbach-Grvble公式对机构的自由度进行求解和验证;其次,通过求解机构的位置反解,得到机构的杆长,编写求解工作空间的程序,利用数值搜索法得到机构的工作空间;最后,通过Adams软件对该机构进行了仿真分析。结果显示,该机构能够达到颈椎活动所需的范围,其中,前倾后仰为-55°~35°,左旋右旋为-52°~52°,左右侧屈为-45°~45°,能够为颈椎病患者提供牵引治疗。In this study,a hybrid type(2-PUR/UPS)&R cervical vertebra rehabilitation machine is proposed for the cervical traction rehabilitation training of patients with cervical spondylosis.The machine has 3R1T four degrees of freedom and meets the requirement of the range of motion of human cervical vertebra.The kinematic performance of the machine is analyzed to verify whether it can be applied in the field of human cervical vertebra rehabilitation.Firstly,the degrees of freedom of the mechanism are solved and verified by using the spiral theory and the modified Kutzbach-Grvble formula.Secondly,by solving the inverse solution of the position of the mechanism,the rod length of the mechanism is deduced,the program of solving the workspace is written,and the workspace of the mechanism is obtained by the numerical search method.Finally,the mechanism is simulated and analyzed by Adams software.The results show that the mechanism could reach the range required for cervical spine movement,including-55°to 35°for forward and backward leaning.Left-handed and right-handed is-52°to 52°;the left and right lateral flexion is-45°to 45°,which can provide traction treatment for patients with cervical spondylosis.

关 键 词：康复机器 颈椎 位置反解 工作空间 ADAMS软件 

分 类 号：TH77[机械工程—仪器科学与技术]