绳索驱动腕部并联康复机构设计与逆运动学分析

doi:10.3901/JME.2022.05.57

机械工程学报 ›› 2022, Vol. 58 ›› Issue (5): 57-68.doi: 10.3901/JME.2022.05.57

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绳索驱动腕部并联康复机构设计与逆运动学分析

张邦成^1,2, 刘帅¹, 喻俊志³, 庞在祥¹, 张曦予¹

1. 长春工业大学机电工程学院长春 130012;
2. 长春工程学院机械与汽车工程学院长春 130012;
3. 北京大学工学院先进制造与机器人系北京 100871

收稿日期:2021-05-17 修回日期:2021-12-13 出版日期:2022-03-05 发布日期:2022-04-28
通讯作者: 庞在祥(通信作者),男,1982年出生,硕士,副教授。主要研究方向为机器人机构学及CAD、智能机器人。E-mail:pangzaixiang@ccut.edu.cn E-mail:pangzaixiang@ccut.edu.cn
作者简介:张邦成,男,1972年出生,博士,教授。主要研究方向为服务机器人机构学、仿生机构学、机电一体化。E-mail:zhangbangcheng@ccut.edu.cn
基金资助:
国家自然科学基金(51875047,61873304);吉林省科技厅创新团队(20200301038RQ);吉林省教育厅(JJKH20200658K)资助项目。

Design and Inverse Kinematics Analysis of Wrist Parallel Rehabilitation Mechanism:A Rope Driven-based Method

ZHANG Bang-cheng^1,2, LIU Shuai¹, YU Jun-zhi³, PANG Zai-xiang¹, ZHANG Xi-yu¹

1. School of Mechatronical Engineering, Changchun University of Technology, Changchun 130012;
2. School of Mechanical and Automotive Engineering, Changchun Institute of Technology, Changchun 130012;
3. Department of Advanced Manufacturing and Robotics, College of Engineering, Beijing 100871

Received:2021-05-17 Revised:2021-12-13 Online:2022-03-05 Published:2022-04-28

摘要/Abstract

摘要： 针对现有腕部康复机构运动范围小，存在柔顺性和舒适性差等问题，提出一种新型绳索驱动、压缩弹簧支撑的柔性并联腕部康复机构。机构定平台、动平台由三根绳索和压缩弹簧连接，弹簧用来模拟腕骨与韧带复合体，起支撑并限制与掌骨相对应的动平台运动；动平台模拟掌骨末端，定平台模拟桡骨和尺骨末端；三根绳索模拟肌肉来驱动并联机构。考虑弹簧轴向位移以及柔性问题，基于有限转动张量法和力与力矩平衡分析方法，构建系统逆运动学数学模型，得到运动学和静力学联合求解的非线性方程组。通过对机构模型分析，完成0～75°下各绳索长度和拉力的数值求解。通过仿真与试验得到人体腕部生理运动空间和机构有效工作空间，验证了机构的合理性和分析方法的正确性。所提出的求解方法对康复机器人和绳索驱动并联机构设计具有积极的促进作用。

关键词: 腕关节, 绳索驱动, 柔性, 并联机构, 联合求解, 工作空间

Abstract: To tackle the problem of small moving range, poor compliance and comfort level in human wrist joint rehabilitation mechanism, this paper proposes a novel cable-driven and compression spring supported flexible parallel wrist rehabilitation mechanism. The fixed platform and the moving platform of the mechanism are connected via three ropes and a compression spring,the spring is used to simulate the carpal and ligament complex to support and limit the movement of the moving platform corresponding to the metacarpal bone. The mobile platform serves to simulate the end of the metacarpal bone of the wrist joint, the static platform is used to simulate the end of the radius and the ulna. Then, the three ropes serve to simulate wrist muscles to realize the driving control of the parallel mechanism. Considering the axial displacement and flexibility of the spring, based on the finite rotation tensor method and the force and moment balance analysis method, construct the inverse kinematics mathematical model of the system, obtain a system of nonlinear equations jointly solved by kinematics and statics. Through the analysis of the mechanism model, the numerical solution of the length and tension of each rope under 0-75°is completed. Through simulation and experiment,the physiological movement space of human wrist and the effective working space of the mechanism are obtained, then the rationality of the mechanism and the correctness of the analysis method are verified. The proposed solution method has a positive effect on the design of rehabilitation robots and cable-driven parallel mechanisms.

Key words: wrist joint, cable-driven robot, flexible mechanism, parallel mechanism, cooperative solving, workspace

中图分类号:

TG156

张邦成, 刘帅, 喻俊志, 庞在祥, 张曦予. 绳索驱动腕部并联康复机构设计与逆运动学分析[J]. 机械工程学报, 2022, 58(5): 57-68.

ZHANG Bang-cheng, LIU Shuai, YU Jun-zhi, PANG Zai-xiang, ZHANG Xi-yu. Design and Inverse Kinematics Analysis of Wrist Parallel Rehabilitation Mechanism:A Rope Driven-based Method[J]. Journal of Mechanical Engineering, 2022, 58(5): 57-68.

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绳索驱动腕部并联康复机构设计与逆运动学分析

Design and Inverse Kinematics Analysis of Wrist Parallel Rehabilitation Mechanism:A Rope Driven-based Method

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