腕部仿生康复机构设计及阻抗控制研究  

Design of Wrist Rehabilitation Mechanism and Research on Impedance Control

作　　者：郭策 陈玉[1] 王淮阳 阚延鹏 孟庆洋 卢梦晨 Guo Ce;Chen Yu;Wang Huaiyang;Kan Yanpeng;Meng Qingyang;Lu Mengchen(School of Mechanical Engineering,Anhui Polytechnic University,Wuhu 241000,China;School of Mechanical Engineering,Anhui Institute of Information Technology,Wuhu 241000,China)

机构地区：[1]安徽工程大学机械工程学院,安徽芜湖241000 [2]安徽信息工程学院机械工程学院,安徽芜湖241000

出　　处：《机械传动》2024年第9期145-151,共7页Journal of Mechanical Transmission

基　　金：电气传动与控制安徽省重点实验室开放基金项目(DQKJ202208);安徽工程大学引进人才科研启动基金项目(2021YQQ028);安徽省高校科研项目(2023AH052913)。

摘　　要：为了更好地辅助腕关节损伤患者进行康复治疗,设计了一种腕部康复训练器。首先,根据腕关节的生物学运动机制和仿生原理,对康复训练器进行结构设计,并添加腕关节的柔性补偿关节设计;然后,基于柔性补偿关节建立腕关节的运动学模型并求得训练器工作空间;接着,搭建虚拟样机平台并设计关节驱动阻抗控制器,进行联合仿真试验,分析了摩擦参数、阻尼参数以及人机接触负载对阻抗控制性能的影响,验证关节控制可以实现;并对比分析了补偿关节的工作空间,验证了训练器结构设计的合理性和可行性,为下一步实物样机的制作提供了理论依据。In order to better assist patients with wrist injuries in rehabilitation,a wrist rehabilitation trainer was designed.Firstly,the structure of the rehabilitation trainer was designed based on the biological motion mechanism of the wrist joint and the bionic principle,and the design of the flexible compensation joint of the wrist joint was added.After that,the kinematic model of the wrist joint was established based on the flexible compensated joint,and the working space of the trainer was obtained.Then,the virtual prototype platform was built,and the joint drive impedance controller was designed for joint simulation test.The influence of friction parameters,damping parameters and human-machine contact load on the impedance control performance was analyzed through the simulation test to verify that the joint control can be realized,and the working space of the compensated joint was compared and analyzed to verify the rationality and feasibility of the structural design of the trainer and to provide a theoretical basis for the production of the next physical prototype.

关 键 词：康复训练器 腕关节 运动学仿真 动力学模型 联合仿真 

分 类 号：TH789[机械工程—仪器科学与技术]