基于闭环矢量封闭法的踝关节康复训练器关节转角求解  

Joint Angle Solution of Ankle Rehabilitation Trainer Based on Closed-Loop Vector Closure Method

作　　者：张化平 王鑫 唐小强 王闪闪 ZHANG Huaping;WANG Xin;TANG Xiaoqiang;WANG Shanshan(School of Mechanical Engineering,Lanzhou Petrochemical University of Vocational Technology,Lanzhou 730060,China)

机构地区：[1]兰州石化职业技术大学机械工程学院,甘肃兰州730060

出　　处：《兰州石化职业技术大学学报》2024年第4期16-20,共5页Journal of Lanzhou Petrochemical University of Vocational Technology

基　　金：甘肃省自然科学基金(21JR7RA775);甘肃省教育厅高等学校创新基金项目(2021A-223);国家大学生创新创业训练计划项目(202216209008)。

摘　　要：针对并联式踝关节康复机器人结构复杂的问题,设计了一款3R踝关节康复训练器。基于闭环矢量封闭法创建了踝关节康复训练器运动学模型,完成了踝关节康复训练器驱动电机转角求解。根据康复训练机理,对踝关节康复训练进行了分类。最后,通过正弦函数近似替代踝关节转角运动规律,并借助ADAMS-MATLAB联合仿真方法,验证了运动学模型的正确性。Aiming at the complicated structure of parallel ankle joint rehabilitation robot,a 3R ankle joint rehabilitation trainer is designed.Based on the closed-loop vector closure method,the kinematic model of the ankle rehabilitation trainer was created,and the Angle of the drive motor of the ankle rehabilitation trainer was solved.According to the mechanism of rehabilitation training,the ankle rehabilitation training is classified.Finally,the sinusoidal function is used to replace the ankle Angle motion,and the ADAMS-MATLAB co-simulation method is used to verify the correctness of the kinematics model.

关 键 词：踝关节康复机器人 闭环矢量封闭法 电机转角 联合仿真 

分 类 号：TH781[机械工程—仪器科学与技术]