一种球面耦合颈椎康复机器人结构设计与分析  

Structure Design and Simulation of a Spherical Coupled Cervical Spine Rehabilitation Robot

作　　者：鲍成 刘芳华[1] 曹永鑫 王政 Bao Cheng;Liu Fanghua;Cao Yongxin;Wang Zheng(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212028,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6期169-176,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(62002141)。

摘　　要：针对国内外各种颈椎康复机构存在的结构、体积、功能和穿戴性方面的问题,提出一种球面耦合颈椎康复机器人方案。首先,从颈椎病患者常用康复动作出发,按照人体颈部生理结构和运动学机制,设计了一种新型球面耦合机构,旨在更好地实现患者的头颈部康复训练;然后,使用螺旋理论进行机构自由度分析,建立机器人运动学和动力学模型,得到了机构运动学求解公式和动力学方程,通过Matlab仿真得到机构运动空间,验证其满足康复训练所需空间要求;在Adams中通过模型动作编写了step函数,将运动学仿真得到的曲线图与理论计算结果进行了对比分析;最后,通过AnsysWorkbench对机器人关键零部件进行瞬态动力学分析,得到机构应力云图,验证了其结构设计合理性,为样机搭建和控制策略研究奠定了基础。Aiming at the problems of structure,volume,function and wearability of various cervical spine rehabilitation institutions at home and abroad,a spherical coupled cervical spine rehabilitation robot scheme is proposed.Firstly,starting from the common rehabilitation actions of patients with cervical spondylosis,a new type of spherical coupled mechanism is designed according to the physiological structure and kinematic mecha-nism of the human neck,aiming at better realizing the rehabilitation training of the head and neck of patients.The screw theory is used to analyze the degree of freedom of the mechanism,the kinematics and dynamics model of the robot is established,the solution formula and dynamic equation of the mechanism kinematics is obtained,and the movement space of the mechanism is obtained through Matlab simulation to verify that it meets the space requirements for rehabilitation training.The step function is written through the model action in Adams,and the curve obtained from the kinematics simulation is compared and analyzed with the theoretical calculation results.Finally,the transient dynamics analysis is performed on the key parts of the robot through Ansys Work-bench,and the stress nephogram of the mechanism is obtained to verify the rationality of its structural design,which lays the foundation for prototype construction and control strategy research.

关 键 词：颈椎康复 球面耦合机器人 运动学仿真 瞬态动力学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH77[自动化与计算机技术—控制科学与工程]