一种混联式上肢康复外骨骼结构设计与分析  

Design and Analysis of a Hybrid Exoskeleton for Upper Limb Rehabilitation

作　　者：王政 刘芳华[1] 邵佳伟 吴万毅 狄澄 Wang Zheng;Liu Fanghua;Shao Jiawei;Wu Wanyi;Di Cheng(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212100,China)

机构地区：[1]江苏科技大学机械工程学院,江苏镇江212100

出　　处：《机械传动》2024年第4期51-59,共9页Journal of Mechanical Transmission

基　　金：国家青年科学基金项目(62002141)。

摘　　要：针对现有上肢外骨骼存在的精度、稳定性与外骨骼体积之间的平衡问题,提出了一种8自由度的混联式上肢康复外骨骼机器人;设计了一种新型的2自由度肘部康复装置,代替传统的单自由度肘部外骨骼,旨在更好地实现上肢运动障碍患者的肘部训练;设计了一种共轴球面的3RRR/S机构,用于手部康复,可使手部的康复训练更具包裹性。根据混联外骨骼机构确立坐标系,使用矢量环路法建立机构刚体部分的运动学模型,并通过蒙特卡洛法绘制机构工作空间云图,验证其满足康复训练所需空间要求。最后,通过Matlab对一典型运动进行轨迹规划,在Adams获得末端质心运动平稳轨迹,验证了其运动学分析和结构设计的合理性;并通过约束多余自由度仿真其最大负载姿态,绘制其负载特性曲线,为驱动选取和样机搭建奠定基础。Aiming at the balance between the accuracy,stability and exoskeleton volume of the existing upper limb exoskeleton,an 8-degree-of-freedom(DOF)hybrid upper limb rehabilitation exoskeleton robot is proposed.A new 2-degree-of-freedom elbow rehabilitation device is designed to replace the traditional single-degree-of-freedom elbow exoskeleton in order to better achieve elbow training for patients with upper limb movement disorders.A 3RRR/S mechanism with coaxial spherical surface is designed for hand rehabilitation,which can make the rehabilitation training of hand more enveloping.The coordinate system is established according to the hybrid exoskeleton mechanism,the kinematic model of the rigid body part of the mechanism is established by using the vector loop method,and the working space nephogram of the mechanism is drawn by Monte Carlo method to verify that it meets the space requirements for rehabilitation training.Finally,the trajectory planning of a typical motion is carried out by Matlab,and the smooth trajectory of the terminal centroid motion is obtained by Adams to verify the rationality of its kinematic analysis and structural design.The maximum load attitude is simulated by constrains the excess degrees of freedom,and the load characteristic curve is drawn,which lays the foundation for the selection of the drive and the construction of the prototype.

关 键 词：康复训练 康复外骨骼 运动学仿真 混联机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH789[自动化与计算机技术—控制科学与工程]