摘要
为解决现有上肢康复外骨骼结构复杂以及腕部康复效果不佳的问题,提出了一种5R+异形3-RPS的混联上肢康复外骨骼机构,可以实现7个自由度的上肢康复训练。建立康复外骨骼的整体运动学模型,将串联部分与并联部分结合,计算串联部分的位姿转换、腕部并联机构的位姿变换矩阵及整体机构的运动学反解。使用ADAMS软件对该康复机构进行运动学仿真分析,通过末端质心的位移、速度和加速度曲线的分析,证明了机构可以按照康复轨迹正确进行并且过渡安全稳定。通过10次重复实物模型试验,验证腕部所能达到的角度范围及运行的平稳性。腕部装置实际的活动角度范围可达到理想状态的(73~82)%,运行符合预期运动轨迹,验证了理论推导和结构设计的正确性和合理性。
In order to solve the problems of complex exoskeleton structure and poor rehabilitation effect of wrist rehabilitation,a5R+heteromorphic 3-RPS hybrid upper limb rehabilitation exoskeleton mechanism was proposed,which could realize the upper limb rehabilitation training with 7 degrees of freedom.Firstly,The whole kinematics model of Rehabilitation Exoskeleton was established.The serial part and the parallel part were combined to calculate the pose transformation of the serial part,the pose transformation matrix of the wrist parallel mechanism and the inverse kinematics of the whole mechanism.Secondly,ADAMS software was used to analyze the kinematics of the rehabilitation mechanism,Through the analysis of the displacement,velocity and acceleration curves of the end mass center,it was proved that the mechanism could be carried out correctly according to the rehabilitation trajectory,and the transition was safe and stable.Finally,Through 10 repeated physical model tests,the angle range and running stability of the wrist were verified.The actual range of motion angle of wrist device could reach(73~82)%of the ideal state,and the operation meets the expected trajectory.The correctness and rationality of theoretical derivation and structural design are verified.
作者
梁辉
王辉
高云涛
汪传生
LIANG Hui;WANG Hui;GAO Yun-tao;WANG Chuan-sheng(Qingdao University of Science and Technology,School of Mechanical and Electrical Engineering,Shandong Qingdao 266061,China;State Key Laboratory of Advanced Manufacturing Technology of Polymer Materials,Qingdao University of Science and Technology,Shandong Qingdao 266061,China)
出处
《机械设计与制造》
北大核心
2024年第2期286-290,共5页
Machinery Design & Manufacture
基金
山东省重点研发计划项目(2018GNC112007)
山东省自然科学基金资助项目(ZR2016XJ003)。
关键词
上肢康复
运动学
仿真
腕部装置
Upper Limb Rehabilitation
Kinematics
Simulation
Wrist Device
