一种新型弱耦合并联髋关节康复机构设计及运动控制  

Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism

作　　者：邢济湲 徐继龙 刘福才[1] Xing Jiyuan;Xu Jilong;Liu Fucai(Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]燕山大学工业计算机控制工程河北省重点实验室,河北秦皇岛066004

出　　处：《机械传动》2024年第6期41-49,共9页Journal of Mechanical Transmission

基　　金：河北省自然科学基金项目(F2022203043);省级重点实验室绩效补助经费项目(22567612H)。

摘　　要：针对髋关节功能障碍人群,提出了一种新型弱耦合并联髋关节康复机构,该机构与人体下肢组成封闭运动链,使其具有3个转动自由度,且其转动中心与人体髋关节中心重合,可满足髋关节康复运动需求。采用封闭矢量法建立了人-机逆运动学模型;采用数值法建立了人-机正运动学模型;基于模糊控制理论,设计了模糊自适应比例-微分(Proportional-Derivative,PD)控制器,利用跟踪误差及其导数构建控制律,采用模糊算法进行控制参数在线自适应调整。仿真和实验结果表明,设计的模糊自适应PD控制器响应速度快且跟踪效果良好。Aiming at the people with hip joint dysfunction,a novel weak-coupling parallel hip-joint reha-bilitation mechanism is proposed.The mechanism and human lower limbs form a closed motion chain,so that it has three rotational degrees of freedom,and its rotation center coincides with the human hip joint center,which can meet the need of hip-joint rehabilitation.The human-machine inverse kinematics model is established us-ing the closed loop vector method.The human-machine forward kinematics model is established using the nu-merical method.The fuzzy adaptive proportional-derivative(PD)controller is designed based on the fuzzy con-trol theory.The control law is constructed using the tracking error and its derivative.The parameters of control-lers are adaptively adjusted online using the fuzzy algorithm.The simulation and experiment results show that the fuzzy adaptive PD controller has fast response speed and good tracking effect.

关 键 词：并联机构 弱耦合 髋关节康复 轨迹跟踪 模糊自适应 

分 类 号：TH77[机械工程—仪器科学与技术]