摘要
康复训练机器人是近年来出现的一种新型机器人,其在进行康复训练过程中,如何协调控制患者骨盆的运动规律现在还没有很好的解决.文中根据人的运动特性提出了利用绳索牵引控制骨盆的运动,骨盆运动规律的欠约束(不完全约束)绳索牵引并联机器人结构与人腿的支撑共同组成了绳杆混合并联机构.从可控性出发,分析在不同位姿时各个绳的拉力性能;从自由度解耦的角度判断实现力控制的可行性.依次设计了欠约束绳杆混合并联机器人结构,可满足对人体骨盆康复运动的控制要求.
Rehabilitation robots are a recent development, and a problem. The author proposes a way to control pelvis motion adjustment and control of pelvis movements are still with wires, modeling characteristics of human motion. Thus, an under-constrainted （non-holonomic constraint） parallel mechanism was formed in combination with the support of legs. According to the requirements of controllability, the tensile force in each wire was calculated for wires in different positions. The feasibility of achieving control over these forces was analyzed from the viewpoint of freedom decoupling. In this way a mixed parallel mechanism with wires and bars was constructed which conforms to the laws of human pelvic motions.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2007年第7期790-794,共5页
Journal of Harbin Engineering University
基金
国家自然科学基金资助项目(60575053)
博士点基金资助项目(WC03113)
黑龙江省自然科学基金资助项目(F2004-03)
关键词
绳杆混合并联机构
可控性
欠约束
骨盆运动
parallel manipulator with wire and bars
controllability
non-holonomic constraint
pelvic motions
