一种上肢康复机器人肩关节减速器的传动精度分析及优化  

Analysis and Optimization on Transmission Accuracy of Shoulder Joint Reducer for an Upper Limb Rehabilitation Robot

作　　者：邹帅东 王光建 谢光辉[1] 侯景明 杨仁强 孙凡惟 Zou Shuaidong;Wang Guangjian;Xie Guanghui;Hou Jingming;Yang Renqiang;Sun Fanwei(College of Smart Health,Chongqing Polytechnic University of Electronic Technology,Chongqing 401331,China;Department of Rehabilitation of the Southwest Hospital of Army Medical University,Army Medical University,Chongqing 400038,China;State Key Laboratory of Mechanical Transmission for Advanced Equipment,Chongqing University,Chongqing 400044,China;Faculty of Engineering,the University of Auckland,Auckland 0632,New Zealand)

机构地区：[1]重庆电子科技职业大学智慧健康学院,重庆401331 [2]陆军军医大学西南医院康复科,重庆400038 [3]重庆大学高端装备机械传动全国重点实验室,重庆400044 [4]新西兰奥克兰大学工学院,奥克兰0632

出　　处：《机械传动》2024年第7期137-142,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金联合基金项目(U19A2082);中国残联课题(2021CDPFAT-25);重庆市科学技术局英才计划项目(cstc2021ycjh-bgzxm0319);重庆市教委科学技术研究重点项目(KJZD-K202203104);重庆市教育委员会科学技术研究项目(KJQN202103112);重庆电子工程职业学院校级课题(XJWT202101)。

摘　　要：基于上肢康复机器人的肩关节相对于其他上肢关节误差敏感性高及承载大的特点,采用一种渐开线少齿差行星减速器应用于其肩关节传动。考虑加工装配误差是造成传动误差的主要因素,运用啮合线增量法建立少齿差行星减速器传动误差的解析计算模型;从统计学角度出发,采用蒙特卡洛法分析了偏心误差及其初始相位对上肢康复机器人肩关节传动精度的影响;基于肩关节传动精度解析模型,分析了传动误差造成的输出力矩波动;并在加工及装配精度不变的情况下,针对少齿差齿轮副各零件的偏心误差初始相位,采用粒子群优化算法进行传动精度优化,以改善上肢康复机器人肩关节传动精度及其造成的输出力矩波动,减少上肢康复患者可能由此造成的二次损伤。Based on the characteristics of high error sensitivity and large load capacity of the shoulder joint of the upper limb rehabilitation robot relative to other joints,an involute planetary reducer with small tooth number difference is applied to its shoulder joint drive in this study.Considering the main factors of transmission errors caused by machining and assembly errors,the analytical calculation model of transmission errors of the planetary reducer with small tooth number difference is established based on the mesh line increment method.From the perspective of statistics,Monte Carlo method is used to analyze the effects of eccentricity error and initial phase on the transmission accuracy of the shoulder joint of upper limb rehabilitation robots.Based on the analytical model of shoulder joint transmission accuracy,the output torque fluctuation caused by transmission error is analyzed and particle swarm optimization algorithm is adopted to optimize transmission accuracy under the condition of constant machining accuracy,so as to improve the output torque fluctuation caused by transmission error of the shoulder joint of the upper limb rehabilitation robot to avoid the secondary injury of the patients.

关 键 词：上肢康复机器人 肩关节减速器 传动精度 力矩波动 

分 类 号：TH77[机械工程—仪器科学与技术] TP242[机械工程—精密仪器及机械]