绳索驱动下肢训练机器人系统运动稳定性分析  

Analysis of the dynamical stability of a rope-driven lower limb training robot system

作　　者：王砚麟 安宗文[1] 黄华[1] 马强[1] 王克义[2] 李竞航 王燕卓 WANG Yanlin;AN Zongwen;HUANG Hua;MA Qiang;WANG Keyi;LI Jinghang;WANG Yanzhuo(School of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050,China;College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州750030 [2]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2024年第6期1135-1143,共9页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(52175006);甘肃省高等学校产业支撑引导项目(2020C-12);甘肃省自然科学基金项目(22JR5RA229)。

摘　　要：针对绳索驱动下肢训练机器人的稳定性问题,本文建立了绳索驱动下肢训练机器人的运动学和动力学模型,给出了绳索拉力优化解的计算表达式,并推导获得了机器人的系统刚度解析表达式。考虑不同训练对象承受运动强度的能力不同,定义了速度影响函数。综合考虑绳索拉力、系统刚度和速度影响函数等因素定义了机器人系统的运动稳定性评价指标,并通过稳定工作空间、抗干扰稳定工作空间和不同训练轨迹的实例计算明确了机器人工作空间内中上部区域的运动稳定性能更好,为运动支链中的过轮运动规划和训练任务规划提供了理论依据。The stability problem of a rope-driven lower limb training robot(RDLTR) was studied.The kinematics and dynamics model of the designed RDLTR was established,deriving a computational expression of the optimized solution of the rope tension and an analytical expression of the system stiffness of RDLTR.A velocity influence function was defined because training objects differ in their ability to bear the motion intensity.The evaluation index of the dynamical stability of the RDLTR system was defined by combining the rope tension,system stiffness,and velocity influence function and clarified through the example calculation of a stable workspace,a robust stable workspace,and different training trajectories.Results revealed an improved dynamical stability performance of RDLTR in the upper and middle regions in the workspace,providing a theoretical basis for the motion planning of the pulleys in the motion branch chain and training task planning.

关 键 词：绳索驱动机器人 下肢训练机器人 绳索拉力优化 系统刚度 运动稳定性 运动学 动力学 速度影响函数 稳定工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]