单自由度可调下肢康复机器人机构优化设计

发布时间：2018-01-16 00:10

本文关键词：单自由度可调下肢康复机器人机构优化设计　出处：《天津大学学报(自然科学与工程技术版)》2017年08期 　论文类型：期刊论文

【摘要】：为帮助下肢功能障碍患者完成步态康复训练,设计了一种新型下肢康复机器人机构,提出了机构尺度优化综合方法.首先,以一个两自由度平面五杆机构为基本机构,通过逆运动学分析建立五杆机构两个输入之间的函数关系,并以曲柄匀速转动为优化目标进行机构尺度综合;然后,在此机构的基础上引入一凸轮-连杆函数生成机构,通过逆运动学分析与机构尺度综合求解并优化凸轮廓线,实现了五杆机构两个输入之间的函数关系,并减少了机构自由度;最后,在此基础上引入一缩放机构,实现机构轨迹可调.以运动捕捉实验获取的正常人体步态轨迹为目标轨迹,进行机构优化设计,结果表明:优化所得机构在匀速电机驱动下能够很好地模拟正常人体步态轨迹与髋、膝关节运动规律,从而验证了机构与优化方法的有效性.
[Abstract]:In order to help patients with lower extremity dysfunction complete gait rehabilitation training, a new mechanism of lower limb rehabilitation robot was designed, and a comprehensive method of mechanism scale optimization was proposed. Taking a planar five-bar mechanism with two degrees of freedom as the basic mechanism, the functional relationship between the two inputs of the five-bar mechanism is established by inverse kinematics analysis, and the mechanism scale synthesis is carried out with the constant rotation of the crank as the optimization target. Then, a cam-link function generating mechanism is introduced on the basis of the mechanism. By inverse kinematics analysis and mechanism scale comprehensive solution and optimization of the cam contour, the functional relationship between the two inputs of the five bar mechanism is realized. And reduce the degree of freedom of the mechanism; Finally, a zoom mechanism is introduced to realize the adjustable track of the mechanism. Taking the gait trajectory obtained from the motion capture experiment as the target trajectory, the mechanism optimization design is carried out. The results show that the optimized mechanism can well simulate the gait trajectory of normal human body and the motion of hip and knee under the drive of constant speed motor, thus validating the effectiveness of the mechanism and the optimization method.
【作者单位】：天津大学机构理论与装备设计教育部重点实验室;
【基金】：国家自然科学基金资助项目(51175368)~~
【分类号】：TP242
【正文快照】： 下肢康复机器人是辅助下肢功能障碍患者完成相应康复训练并能给患者与康复医师提供反馈信息的自动化设备[1-2].与传统的康复训练相比,机器人辅助训练具有重复性好、康复效率高、康复师劳动强度低等优点[3],现已成为国内外研究的热点.随着机器人技术的发展,国内外已经研制出了

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