一种基于3-UU并联机构的腕关节康复机器人研制  

Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism

作　　者：田培良 刘智飞 王炜博 马晓宝 兰媛 Tian Peiliang;Liu Zhifei;Wang Weibo;Ma Xiaobao;Lan Yuan(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030024

出　　处：《机械传动》2024年第4期162-171,共10页Journal of Mechanical Transmission

基　　金：山西省关键核心技术和共性技术研发攻关专项项目(2020XXX001)。

摘　　要：在3-UU并联机构基础上研制腕关节康复机器人样机,辅助中风患者进行腕关节康复训练。回顾了3-UU机构演化过程和自由度,根据3-UU机构的约束关系和几何特性,采用球坐标法和滚动-俯仰-偏航(Roll-Pitch-Yaw,RPY)法分析机构逆运动学,得到机构平台和驱动的关系式;将研制的样机与经典的3-RRR腕关节康复机构进行对比,得出本机构不存在多解和奇异值等优点;对样机运动性能以及前臂两大肌群的肌电信号进行了测试。实验表明,该机构的最大横滚角度为-90°~90°,俯仰角度为-90°~90°,虚拟偏航角度为-180°~180°,最高能产生950 mV的肌电信号。上述结果表明,所研制的样机能满足腕关节运动需求,对前臂肌群进行训练。Based on the 3-UU parallel mechanism,a prototype robot for wrist joint rehabilitation is devel-oped to assist stroke patients in wrist joint rehabilitation training.Based on the constraint relation and geometric characteristics of the 3-UU mechanism,the inverse kinematics of 3-UU mechanism is analyzed by spherical co-ordinate method and roll-pitch-yaw(RPY)method,and the relation between the platform and the driver is ob-tained.Compared with the classic 3-RRR wrist joint rehabilitation mechanism,the developed prototype has no advantages such as multi-solution and singular value.The motion performance of the prototype and the electro-myographic signals of the two major muscle groups in the forearm are measured.The experimental results show that the maximum roll angle is-90°to 90°,the pitch angle is-90°to 90°,and the virtual yaw angle is-180°to 180°.The maximum electromyogram(EMG)signal can be generated at 950 mV.The results show that the devel-oped model can meet the requirements of the wrist motion and train the forearm muscle group.

关 键 词：腕关节训练 并联机构 逆运动学 康复机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]