3-PRPS踝关节康复机器人逆运动学仿真分析  

Inverse Kinematic Simulation Analysis of 3-PRPS Ankle Rehabilitation Robot

作　　者：王鑫磊 姜建秋 秦江涛 林思安 王继荣[1,3] WANG Xinlei;JIANG Jianqiu;QIN Jiangtao;LIN Sian;WANG Jirong(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,China;Smart Campus and Information Technology Construction Center,Qingdao University,Qingdao 266071,China;c.Weihai Innovation Research Institute of Qingdao University,Weihai 264200,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071 [2]青岛大学智慧校园与信息化建设中心,山东青岛266071 [3]青岛大学威海创新研究院,山东威海264200

出　　处：《青岛大学学报（工程技术版）》2024年第1期95-100,共6页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：科技部国家重点研发计划资助项目(2019YFC010167)。

摘　　要：针对踝关节康复机器人自由度少且行程范围小等导致康复效果不理想的问题,本文设计了一种基于3-PRPS并联机构的6自由度踝关节康复机器人,对踝关节所有运动形式及下肢进行复合康复训练。通过解析求解法对并联机构进行逆运动学位置分析计算,得到逆运动学求解的代数式。为验证机构运动学分析的正确性,建立康复机器人的虚拟样机,利用ADAMS进行逆运动学仿真。结果表明,康复机器人在康复训练过程中运行平稳,速度及加速度无突变,能够完成踝关节趾屈/背伸、外展/内收、内翻/外翻3种运动形式和下肢的康复训练,符合预期效果。In response to the problem of insufficient degrees of freedom and small travel range in the current ankle rehabilitation robot,which leads to unsatisfactory rehabilitation training results,this paper designs a six degree of freedom ankle rehabilitation robot based on a 3-PRPS parallel mechanism,which can perform composite rehabilitation training on all forms of ankle joint motion and lower limbs.The inverse kinematic position analysis and calculation of the parallel mechanism are carried out through analytical solution method,and the algebraic formula for inverse kinematic solution is obtained.In order to verify the correctness of the kinematic analysis of the mechanism,a virtual prototype of the rehabilitation robot was established and inverse kinematic simulation is performed using ADAMS.The results indicate that the rehabilitation robot runs smoothly during the rehabilitation training process,without sudden changes in speed and acceleration.It can complete three types of movements:ankle joint toe flexion/back extension,abduction/adduction,and inversion/eversion,as well as lower limb rehabilitation training,and meets the expected results.

关 键 词：踝关节 康复机器人 3-PRPS 运动学仿真 

分 类 号：TH112[机械工程—机械设计及理论]