3-CPS/S踝关节康复机器人运动/力性能分析与试验  

Analysis and experiment on motion/force performance of 3-CPS/S ankle rehabilitation robot

作　　者：李辉 郭文孝 郭辉 杨云 李瑞琴[3] LI Hui;GUO Wenxiao;GUO Hui;YANG Yun;LI Ruiqin(Department of Mining Engineering,Lüliang University,Lüliang 033001,China;CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]吕梁学院矿业工程系,山西吕梁033001 [2]中国煤炭科工集团太原研究院有限公司,山西太原030006 [3]中北大学机械工程学院,山西太原030051

出　　处：《中国测试》2025年第3期113-122,共10页China Measurement & Test

基　　金：山西省高等学校科技创新项目(2019L0978);吕梁学院引进博士科研启动经费(李辉2022);山西省基础研究计划面上项目(202303021211195);吕梁市高层次科技人才计划专项项目(2023RC17)。

摘　　要：在我国,踝关节康复机器人具有巨大的市场潜力。为替代传统的人工康复训练模式,提出一种基于3-CPS/S并联机构的踝关节康复机器人。使用旋量理论建立机构的数学模型,推导的到机构的输入/输出运动旋量及传递/约束力旋量;通过闭环矢量法得到机构的位置逆解方程;采用能效系数法推导并求解得到机构的局部传递指标;分析旋量的物理意义,计算机构的奇异位形;利用ADAMS进行动力学仿真,探索动平台运动速度与驱动力的相关性;最后搭建试验样机,由插值函数驱动机构运动。结果表明:CPS支链的输入传递指标始终为1,局部传递指标只与输出传递指标有关,且合适的设计参数能够显著改善机构的局部传递指标;3-CPS/S并联机构在工作空间内不存在奇异位形;动平台在由单一/复合运动过渡时,应缓慢进行加速/减速,以减少驱动器加速度的突变;样机够实现带动患肢进行康复训练的目的。Ankle rehabilitation robot has huge market potential.In order to replace the traditional manual rehabilitation training mode,an ankle rehabilitation robot based on 3-CPS/S parallel mechanism is proposed.A mathematical model of the mechanism is established using screw theory,and the input/output twist screw and transmission/constraint wrench screw are derived.The inverse kinematics equation of the mechanism is derived by the closed-loop vector method.The local transmission index of the mechanism is derived by using the power coefficient.The physical meaning of screw is analyzed and the singularity configuration of the mechanism is calculated.ADAMS is used to carry out dynamic simulation and explore the correlation between the moving speed of the moving platform and the force of the drivers.Finally,an experimental prototype is built and the mechanism is driven by interpolation function.The results show that the input transmission index of CPS limb is always equal to 1,the local transmission index is only related to the output transmission index,and the appropriate design parameters can significantly improve the local transfer index of the mechanism.There is no singularity configuration in the workspace of 3-CPS/S parallel mechanism.When the moving platform is transitioning from single/compound motion,it should accelerate/decelerate slowly to reduce abrupt acceleration of drivers.The prototype can realize the purpose of ankle rehabilitation training.

关 键 词：踝关节康复机器人 并联机构 局部传递指标 奇异位形 动力学仿真 

分 类 号：TB9[一般工业技术—计量学] TH112.1[机械工程—测试计量技术及仪器]