可重构踝关节康复并联机器人构型及其运动学分析  

Configuration and kinematics analysis of reconfigurable ankle rehabilitation parallel robot

作　　者：贾维涵 刘承磊 黄金安 张鹏程 宋井科 张建军[1,2] JIA Weihan;LIU Chenglei;HUANG Jinan;ZHANG Pengcheng;SONG Jingke;ZHANG Jianjun(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401;Key Laboratory of Robot Perception and Human-Machine Fusion,Hebei Province,Tianjin 300401)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]河北省机器人感知与人机融合重点实验室,天津300401

出　　处：《机械设计》2024年第12期24-30,共7页Journal of Machine Design

基　　金：国家自然科学基金项目(52075145);河北省重大科技成果转化专项(20281805Z);河北省自然科学基金面上项目(E2020103001)

摘　　要：鉴于目前踝关节康复并联机器人存在耦合程度高及康复模式单一的问题,难以满足患者主动康复需求。文中从踝关节运动解剖学机理着手,首先,将踝关节康复需求映射到Plücker坐标系中,得出患者主动康复需求运动螺旋;其次,设计可重构踝关节康复并联机器人构型,并基于螺旋理论验证该机构自由度与所需运动螺旋的一致性;然后,通过D-H法计算该机构运动学正反解;最后,求解该机构的雅可比矩阵,并进行奇异位形分析。结果表明:在康复工作空间内该机构无位姿奇异,运动学性能良好。Currently,the ankle rehabilitation parallel robot which suffers high degree in coupling and single mode of rehabilitation fails to satisfy the patients’need of active rehabilitation.In this article,proceeding from the anatomical mechanism of ankle motion,firstly,the patients’need of ankle rehabilitation is mapped into the Plücker coordinate system,in order to identify the motion screw which satisfies the patients’need of active rehabilitation.Secondly,the reconfigurable ankle rehabilitation is designed and configurated.Meanwhile,according to the screw theory,it is verified that the mechanism’s DOFs are consistent with the required motion screw.Next,the D-H method is used to calculate the mechanism’s forward and inverse kinematic solutions.Finally,efforts are made to solve the mechanism’s Jacobian matrix and analyze its singular configuration.The results show that this mechanism without any singular configuration in the workspace of rehabilitation has desirable kinematic performance.

关 键 词：踝关节康复 并联机构 可重构机构 运动学分析 主动康复 

分 类 号：TG156[金属学及工艺—热处理]