变轴线生物融合式膝关节康复机构型综合

doi:10.3901/JME.2020.11.072

机械工程学报 ›› 2020, Vol. 56 ›› Issue (11): 72-79.doi: 10.3901/JME.2020.11.072

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变轴线生物融合式膝关节康复机构型综合

王森^1,2, 李艳文^1,2, 陈子明^1,2, 宋加涛^1,2, 梁文龙^1,2, 朱为国³

1. 燕山大学河北省并联机器人与机电系统实验室秦皇岛 066004;
2. 燕山大学机械工程学院秦皇岛 066004;
3. 淮阴工学院先进制造技术重点实验室淮安 223003

收稿日期:2019-11-12 修回日期:2020-02-13 出版日期:2020-06-05 发布日期:2020-06-12
通讯作者: 李艳文(通信作者),女,1966年出生,博士,教授。主要研究方向为机器人技术及应用研究。E-mail:ywl@ysu.edu.cn
作者简介:王森,男,1995年出生。主要研究方向为膝关节康复机器人的设计分析。E-mail:2743824384@qq.com;陈子明,男,1984年出生,博士,副教授。主要研究方向为空间少自由度并联机构的设计与分析理论。E-mail:chenzm@ysu.edu.cn;宋加涛,男,1996年出生,硕士研究生。主要研究方向为串联机械臂的设计与分析。E-mail:2814438520@qq.com;梁文龙,男,1993年出生,硕士研究生。主要研究方向为下肢康复机器人的设计分析。E-mail:2831984347@qq.com
基金资助:
国家自然科学基金（51775474）、河北省自然科学基金（E2016203321）、江苏省重点实验室项目（HGAMTL-1708）和河北省重点研发计划（19221909D）资助项目。

Type Synthesis of Rehabilitation Mechanism of Variable Axis Bio-fusion Knee Joint

WANG Sen^1,2, LI Yanwen^1,2, CHEN Ziming^1,2, SONG Jiatao^1,2, LIANG Wenlong^1,2, ZHU Weiguo³

1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
2. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
3. Advanced Manufacturing Technology Key Laboratory, Huaiyin Institute of Technology, Huaian 223003

Received:2019-11-12 Revised:2020-02-13 Online:2020-06-05 Published:2020-06-12

摘要/Abstract

摘要： 以一种具有变轴线转动的1R人体膝关节模型为基础，提出一种膝关节与外骨骼轴线自动对准的生物融合式膝关节康复机构型综合的方法，并综合出了一系列生物融合式膝关节康复机构。给出一种膝关节与外骨骼关节轴线自动对准的运动补偿条件，基于螺旋理论构建符合运动补偿条件的生物融合式膝关节康复机构的基本模型；以生物融合式膝关节康复机构为研究对象，用改进的G-K公式分析了生物融合式膝关节康复机构的自由度，并用运动学仿真软件验证了运动补偿的正确性，进而确定了机构综合的合理性，为生物融合式膝关节康复机构型综合的设计提供了新的思路。

关键词: 生物融合, 膝关节康复, 螺旋理论, 运动补偿, 型综合, 康复机构

Abstract: A new 1R human knee model which is based on a variable axis rotation, the method of configuration synthesis of bio-fusion knee rehabilitation machanism with automatic alignment of knee joint and exoskeleton axis are proposed, then a series of bio-fusion knee rehabilitation mechanisms are summarized. There is an effective way that a motion compensatary condition for the automatic alignment of the axis of knee joint and exoskeleton joint, and constructs the basic model of the bio-fusion knee joint rehabilitation mechanism, which is based on the spiral theory. Treating the bio-fusion knee joint rehabilitation mechanism as the research object, the freedom of the bio-fusion knee joint rehabilitation mechanism is analyzed with the improved G-K formula, and the kinematics simulation software is used the accuracy of motion compensation is verified by the simulation results, and then the rationality of mechanism synthesis is determined, which provides a new idea for the design method of configuration synthesis of bio-fusion knee joint rehabilitation machanism.

Key words: bio-fusion, rehabilitation of keen joint, spiral theory, motion compensation, type synthesis, rehabilitation mechanism

中图分类号:

TP242

王森, 李艳文, 陈子明, 宋加涛, 梁文龙, 朱为国. 变轴线生物融合式膝关节康复机构型综合[J]. 机械工程学报, 2020, 56(11): 72-79.

WANG Sen, LI Yanwen, CHEN Ziming, SONG Jiatao, LIANG Wenlong, ZHU Weiguo. Type Synthesis of Rehabilitation Mechanism of Variable Axis Bio-fusion Knee Joint[J]. Journal of Mechanical Engineering, 2020, 56(11): 72-79.

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变轴线生物融合式膝关节康复机构型综合

Type Synthesis of Rehabilitation Mechanism of Variable Axis Bio-fusion Knee Joint

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