基于敏感度分析的单自由度Stephenson机构多目标轨迹综合方法

doi:10.3901/JME.2024.05.059

机械工程学报 ›› 2024, Vol. 60 ›› Issue (5): 59-69.doi: 10.3901/JME.2024.05.059

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基于敏感度分析的单自由度Stephenson机构多目标轨迹综合方法

赵萍, 张涯婷, 程悦, 徐宏伟, 訾斌

合肥工业大学机械工程学院合肥 230009

收稿日期:2023-12-01 修回日期:2024-01-18 出版日期:2024-03-05 发布日期:2024-05-30
通讯作者: 赵萍，女，1987年出生，博士，教授，博士研究生导师。主要研究方向为机构学与机器人学，机构运动学。E-mail：ping.zhao@hfut.edu.cn
作者简介:张涯婷，女，1998年出生，博士研究生。主要研究方向为单自由度康复机构设计。E-mail：yating.zhang@mail.hfut.edu.cn；程悦，女，2001年出生，硕士研究生。主要研究方向为机械设计与仿真。E-mail：chengyue1025@163.com；徐宏伟，男，2001年出生，硕士研究生。主要研究方向为机器人控制技术。E-mail：zhongren1536@163.com；訾斌，男，1975 年出生，博士，教授。主要研究方向为刚柔耦合智能机器人理论、技术与装备，智能制造系统控制与自动化等。E-mail：zibinhfut@163.com
基金资助:
国家自然科学基金资助项目(51775155)。

Multi-task Trajectory Synthesis Method of Single-DOF Stephenson Mechanisms Based on Sensitivity Analysis

ZHAO Ping, ZHANG Yating, CHENG Yue, XU Hongwei, ZI Bin

School of Mechanical Engineering, Hefei University of Technology, Hefei 230009

Received:2023-12-01 Revised:2024-01-18 Online:2024-03-05 Published:2024-05-30

摘要/Abstract

摘要： 单自由度机构控制简单、稳定性强，但只能实现一个特定的运动形式。因此提出多模式单自由度六杆Stephenson机构设计方法，使其在保留单自由度机构优点的同时，能够通过选定的可调参数来实现多个目标轨迹。对单自由度Stephenson机构进行了运动分析，并结合其运动学方程，对九个杆长设计参数实施了敏感度分析，明确不同设计参数的变化趋势对末端生成轨迹的影响。依据轨迹变化趋势的差异化程度设计评价函数，构建不同可调参数的分析与对比方法，并以来自不同人群的多条下肢步态轨迹综合为例，通过敏感度分析及评价函数值对比，确定l₆为最优的可调设计参数，进行多模式Stephenson六杆机构的多目标轨迹综合和参数设计。结果表明，通过调节l₆杆长参数，三条目标轨迹均可在该单自由度机构上得到较好实现。对该多模式单自由度Stephenson机构进一步分析表明，其运动学性能良好，以此机构为执行器设计下肢步态康复装置，不仅结构简单、控制方便，还能对不同的目标人群都具有较好的适应性。

关键词: 单自由度机构, 敏感度分析, 轨迹综合, 康复机构设计

Abstract: Single-degree-of-freedom (single-DOF) mechanisms are simple to control and have good stability, yet they can only realize one specific motion. Hereby a design method for multi-mode single-DOF six-bar Stephenson mechanisms is proposed, which retains the advantages of single-DOF mechanisms while enabling the realization of multiple target trajectories through a selected adjustable parameter. The kinematic analysis of a single-DOF Stephenson mechanism is conducted, and based on its kinematic equations, sensitivity analysis is conducted on nine link length design parameters to determine the impact of variations in different design parameters on the resulting trajectory of the end effector. Based on the comparison of the trajectory variation, the cost function is constructed, and an analysis method with different adjustable parameters is proposed. Taking the synthesis of multiple lower-limb gait trajectories from various populations as the example, through sensitivity analysis and evaluation function value comparison, l₆ is determined as the optimal adjustable design parameter for multi-mode Stephenson six-bar mechanism in multi-objective trajectory synthesis and parameter design. The results show that by adjusting the length parameter of the l₆ link, three target trajectories can be well achieved on this single-DOF mechanism. Further analysis of this multi-mode single-DOF Stephenson mechanism shows that its kinematic performance is good. Using this mechanism as an actuator to design a lower limb gait rehabilitation device not only provides a simple structure and convenient control, but also has good adaptability for different target populations.

Key words: single-DOF mechanism, sensitivity analysis, trajectory synthesis, rehabilitation mechanism design

中图分类号:

TP242

赵萍, 张涯婷, 程悦, 徐宏伟, 訾斌. 基于敏感度分析的单自由度Stephenson机构多目标轨迹综合方法[J]. 机械工程学报, 2024, 60(5): 59-69.

ZHAO Ping, ZHANG Yating, CHENG Yue, XU Hongwei, ZI Bin. Multi-task Trajectory Synthesis Method of Single-DOF Stephenson Mechanisms Based on Sensitivity Analysis[J]. Journal of Mechanical Engineering, 2024, 60(5): 59-69.

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基于敏感度分析的单自由度Stephenson机构多目标轨迹综合方法

Multi-task Trajectory Synthesis Method of Single-DOF Stephenson Mechanisms Based on Sensitivity Analysis

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