驱动支链完全解耦的可重构踝关节康复并联机构型综合

doi:10.3901/JME.2022.19.045

机械工程学报 ›› 2022, Vol. 58 ›› Issue (19): 45-56.doi: 10.3901/JME.2022.19.045

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驱动支链完全解耦的可重构踝关节康复并联机构型综合

魏俊^1,2, 贾维涵^1,2, 刘承磊^1,2, 张建军^1,2, 黄海晶³, 郭士杰^1,2

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;
3. 天津大学天津医院足踝一病区天津 300211

收稿日期:2021-12-06 修回日期:2022-07-28 出版日期:2022-10-05 发布日期:2023-01-05
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。E-mail：zhjjun@hebut.edu.cn
作者简介:魏俊，男，1985年出生，博士，讲师，硕士研究生导师。主要研究方向为机器人机构学。E-mail：jun.wei@hebut.edu.cn;贾维涵，男，1995年出生，硕士研究生。主要研究方向为并联机器人。E-mail：jiaweihan2080@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)和河北省自然科学基金 (E2020103001，E202202130)资助项目。

Type Synthesis of Reconfigurable Parallel Mechanisms for Ankle Rehabilitation with Completely Decoupled Actuated Limb

WEI Jun^1,2, JIA Weihan^1,2, LIU Chenglei^1,2, ZHANG Jianjun^1,2, HUANG Haijing³, GUO Shijie^1,2

1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401;
2. Key Laboratory of Robot Perception and Human-Machine Fusion of Hebei Province, Tianjin 300401;
3. Department of Foot and Ankle, Tianjin Hospital, Tianjin University, Tianjin 300211

Received:2021-12-06 Revised:2022-07-28 Online:2022-10-05 Published:2023-01-05

摘要/Abstract

摘要： 基于术后6～12周内的前、中、后期踝关节扭伤的康复运动需求，提出具有三种康复运动模式的可重构踝关节康复并联机构。首先，针对胫距关节和距下关节的轴线运动特征，研究踝关节康复运动切换机理和“双心”特性，提出符合踝关节自由度和轴线运动特性的六种融合支链；根据构型约束支链的选取方案，筛选出四种无约束支链。其次，基于旋量理论对六种融合支链进行过约束设计，验证符合实际需求的融合支链；根据传递力旋量与动平台运动轴线关系，提出一种驱动支链完全解耦优化方法，得到三种无约束驱动支链以及十二种机构构型，使得机构在三种康复模式中实现完全解耦。最后，通过ADAMS仿真验证机构的三种运动分支及完全解耦的正确性。可重构踝关节康复机器人依据患者康复需求采取对应康复模式，适用范围广，针对性强，控制简单。

关键词: 踝关节康复, 可重构机构, 型综合, 过约束设计, 完全解耦, 融合支链

Abstract: Reconfigurable ankle rehabilitation parallel mechanisms with three rehabilitation motion modes are proposed in terms of the movement requirements of rehabilitation for ankle sprain in the anterior-middle-posterior periods within 6-12 weeks after surgery. First, according to the axis motion characteristics of tibiotalar joint and subtalar joint, the motion switching principle and double-point characteristic of ankle rehabilitation are investigated, and six LBAs (limbs of the bio-syncretic axis) are given to satisfy the DOF and axis motion characteristics of the ankle joint. Four kinds of unconstrained limbs are enumerated through the selected scheme of the configuration constrained limbs. Second, over-constrain design of six LBAs are carried out based on the screw theory to verify LBAs that meet the practical movement requirements. According to the relationship between the transmission force screw and the motion axes of the platform, a completely decoupling optimization method is proposed, and three unconstrained driving limbs and twelve of mechanism configurations are obtained, which made the mechanism completely decoupled in all three rehabilitation modes. Finally, the correctness of the three limbs of the mechanism and the completely decoupling is verified through ADAMS simulation. Reconfigurable ankle rehabilitation robot is adopted the corresponding rehabilitation modes according to the patient's rehabilitation conditions, with a wider application range, stronger pertinence, and simple control.

Key words: ankle rehabilitation, reconfigurable mechanism, type synthesis, over-constraint design, completely decoupling, limbs of the bio-syncretic axis

中图分类号:

TH112

魏俊, 贾维涵, 刘承磊, 张建军, 黄海晶, 郭士杰. 驱动支链完全解耦的可重构踝关节康复并联机构型综合[J]. 机械工程学报, 2022, 58(19): 45-56.

WEI Jun, JIA Weihan, LIU Chenglei, ZHANG Jianjun, HUANG Haijing, GUO Shijie. Type Synthesis of Reconfigurable Parallel Mechanisms for Ankle Rehabilitation with Completely Decoupled Actuated Limb[J]. Journal of Mechanical Engineering, 2022, 58(19): 45-56.

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驱动支链完全解耦的可重构踝关节康复并联机构型综合

Type Synthesis of Reconfigurable Parallel Mechanisms for Ankle Rehabilitation with Completely Decoupled Actuated Limb

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