• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2021, Vol. 57 ›› Issue (21): 45-54.doi: 10.3901/JME.2021.21.045

• 机器人及机构学 • 上一篇    下一篇

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面向踝关节康复的四自由度广义球面并联机构运动学性能*

刘承磊1,2,3, 张建军1,2,3, 牛建业1,2, 刘腾1,2, 戚开诚1,2, 郭士杰1,2   

  1. 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 300130;
    3. 河北工业大学国家技术创新方法与实施工具工程技术研究中心 天津 300401
  • 收稿日期:2020-08-31 修回日期:2020-12-20 出版日期:2021-12-28 发布日期:2021-12-28
  • 通讯作者: 张建军(通信作者),男,1971年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学、并联机器人、外骨骼机器人。E-mail:zhjjun@hebut.edu.cn
  • 作者简介:刘承磊,男,1995年出生,博士研究生。主要研究方向为并联机器人。E-mail:15620196305@163.com
  • 基金资助:
    国家自然科学基金(52075145)、河北省自然科学基金重点(E2020202010)、河北省重大科技成果转化专项(20281805Z)和中央引导地方科技发展资金基础研究(206Z1801G)资助项目。

Kinematic Performance of 4-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

LIU Chenglei1,2,3, ZHANG Jianjun1,2,3, NIU Jianye1,2, LIU Teng1,2, QI Kaicheng1,2, GUO Shijie1,2   

  1. 1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401;
    2. Key Laboratory of Robot Perception and Human-Machine Fusion, Hebei Province, Tianjin 300130;
    3. National Engineering Research Center for Technological Innovation Method and Tool, Hebei University of Technology, Tianjin 300401
  • Received:2020-08-31 Revised:2020-12-20 Online:2021-12-28 Published:2021-12-28

摘要: 针对现有踝关节康复机器人运动特性与人体踝关节实际运动特性存在明显差异,导致人机相容性不理想的问题,基于高匹配度的U1U2型踝关节运动拟合模型,提出一种适用于踝关节康复且结构紧凑的四自由度广义球面并联机构。基于螺旋理论分析其运动及约束特性,论证其与踝关节运动拟合模型运动的一致性;分别建立机构的位置及姿态运动学模型,证明了该机构的位置与姿态之间运动学完全解耦;基于雅可比矩阵极其条件数分析,阐明该机构在纯背伸趾屈和纯内外翻运动中均具有运动学的完全各向同性性质,且在踝关节工作空间内具有较好的灵巧性及可操作度,并无奇异位形等病态位置存在,通过数据对比验证该机构具有较好的运动学特性,适用于踝关节康复。

关键词: 踝关节康复, 运动拟合模型, 广义球面并联机构, 运动学分析

Abstract: In the previous rehabilitation robot research, the proposed ankle models have distinctions with the human ankle bone structure. It leads to the unsatisfactory human-machine compatibility of ankle rehabilitation robots constructed based on the fitting onto the motion of these models. A compact 4-DOF generalized spherical parallel mechanism is proposed based on the motion fitting models U1U2. In order to prove the feasibility of the mechanism, its motion and constraint characteristics are analyzed based on the screw theory, and its motion consistency with the motion fitting model is discussed. The position and orientation kinematics model of the mechanism were established separately, which proved that the kinematics between the position and orientation is completely decoupled. By analyzing its Jacobian matrix and condition number, it is clarified that the mechanism has kinematic fully-isotropic properties in single direction movement, and has excellent dexterity and manipulability in the ankle working space, and no singularity. It is verified by data comparison that the mechanism has good kinematic characteristics and is suitable for ankle rehabilitation.

Key words: ankle rehabilitation, motion fitting model, generalized spherical parallel mechanism, kinematics analysis

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