新型RR-RURU踝关节康复机器人机构的设计与分析
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摘要
基于无耦合RR-RURU转动并联机构设计出一种新型踝关节康复机器人。利用螺旋理论对机构进行了运动输出特性分析和自由度计算;推导出机构动平台的姿态方程和角速度方程,讨论了机构满足运动学完全各向同性的结构条件;根据机构分支运动链的运动螺旋系的线性相关性,分析了机构的运动学奇异性并给出其奇异位形;研究了机构的工作空间,得到其可达工作空间的三维图形。绘制出新型踝关节康复机器人的CAD模型,利用临床医学步态分析数据(CGA)得到其输出角位移曲线,并对其动力学进行了虚拟样机仿真。研究结果为该新型踝关节康复机器人的样机试制提供了理论基础。
A novel ankle rehabilitation robot was designed based on the uncoupled RR-RURU rotational parallel mechanism.The kinematic output characteristics mechanism was analyzed and the degree of freedom was calculated in terms of the screw theory.Mathematical models of the posture and the angular velocity of the platform were established.Structural conditions of the fully-isotropic performance for the mechanisms were discussed in detail.Singularity was analyzed based on the linear dependence of the kinematic screw system of the first limb and the singular configurations were given as well.Workspace was investigated and the three-dimensional graphic was also described.Finally, CAD model of the novel ankle rehabilitation robot were given.The output angular displacement curves of the robot were obtained by means of the clinical gait analysis data(CGA).In addition, the dynamics of the ankle rehabilitation robot was simulated by using the virtual prototype.The results provide the theoretical basis to develop the physical prototype of the ankle rehabilitation robots.
A novel ankle rehabilitation robot was designed based on the uncoupled RR-RURU rotational parallel mechanism.The kinematic output characteristics mechanism was analyzed and the degree of freedom was calculated in terms of the screw theory.Mathematical models of the posture and the angular velocity of the platform were established.Structural conditions of the fully-isotropic performance for the mechanisms were discussed in detail.Singularity was analyzed based on the linear dependence of the kinematic screw system of the first limb and the singular configurations were given as well.Workspace was investigated and the three-dimensional graphic was also described.Finally, CAD model of the novel ankle rehabilitation robot were given.The output angular displacement curves of the robot were obtained by means of the clinical gait analysis data(CGA).In addition, the dynamics of the ankle rehabilitation robot was simulated by using the virtual prototype.The results provide the theoretical basis to develop the physical prototype of the ankle rehabilitation robots.
引文
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[18] 姜礼杰,王良诣,王勇,等.一种混合输入并联拟人步态康复机器人的机构设计与分析[J].机器人,2016,38(4):495-503.JIANG Lijie,WANG Liangyi,WANG Yong,et al.Mechanism Design and Analysis of a Hybrid-input Parallel Rehabilitation Robot with Humanoid Gaits [J].Robot,2016,38(4):495-503.
[19] WINTER A.Gait Data.Int.Soc.Bio-mechanics,Bio- mechanical Data Resources[EB/OL].http:// guardian.curtin.edu.au/org /data/
[20] KIRTLEY C.CGA Normative Gait Database,[EB/OL].Hong Kong Polytechnic Univ.http://guardian.curtin.edu.au/cga/data/
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[22] PARENTEAU C S,VIANO D C,Petit P Y.Biomechanical Properties of Human Cadaveric Ankle-Subtalar Joints in Quasi-static Loading [J].Journal of Biomechanical Engineering,1998,120(1):105-11.
[2] 侯雨雷,汪毅,李明洋,等.一种含间隙两转动一移动解耦并联机构混沌现象辨识[J].中国机械工程,2015,26(13):1759-1766.HOU Yulei,WANG Yi,LI Mingyang,et al.Chaos Identification of Two Rotational and One Translational Decoupled Parallel Mechanism Concerning Clearance[J].China Mechanical Engineering,2015,26(13):1759-1766.
[3] LALIBERTé T,GOSSELIN C.Synthesis,Optimization and Experimental Validation of Reactionless Two-DOF Parallel Mechanisms Using Counter-mechanisms[J].Meccanica,2016,51(12):3211-3225.
[4] KUO C H,DAI J S.Kinematicsof a Fully-decoupled Remote Center-of-motion Parallel Manipulator for Minimally Invasive Surgery[J].Journal of Medical Devices,2012,6(2):211-214.
[5] HOU Yulei,DUAN Yanbin,YAO Jiantao,et al.Configuration Optimization and Static Analysis of Adjusting Parallel Mechanism for the Sub-reflector of Antenna[J].Advanced Materials Research,2011,338:425-430.
[6] 杨龙,周玉林,马秋明.新型球面并联人形机器人踝关节机构静力学性能分析[J].中国机械工程,2017,28(7):835-841.YANG Long,ZHOU Yulin,MA Qiuming.Statics Property Analyses of a Novel Spherical Parallel Humanoid Robotic Ankle Mechanism [J].China Mechanical Engineering,2017,28(7):835-841.
[7] ZHANG Yanbin,ZHAO Yifu,JING Xianling,et al.Type Synthesis of Uncoupled Translational Parallel Manipulators Based on Actuation Wrench Screw Theory [J].Advances in Mechanical Engineering,2018,10(1):1-10.
[8] 范彩霞,刘宏昭,张彦斌,等.一种新型2R完全解耦并联机构的运动学和奇异性分析[J].中国机械工程,2010,21(11):1301-1305.FAN Caixia,LIU Hongzhao,ZHANG Yanbin,et al.Kinematics and Singularity Analysis of a Novel 2R Fully-decoupled Parallel Manipulator[J].China Mechanical Engineering,2010,21 (11):1301-1305.
[9] JIN Xiaodong,FANG Yuefa,QU Haibo,et al.A Class of Novel 2T2R and 3T2R Parallel Mechanisms with Large Decoupled Output Rotational Angles[J].Mechanism & Machine Theory,2017,114:156-169.
[10] ZHANG Yanbin,LIU Hongzhao,WU Xin.Kinematics Analysis of a Novel Parallel Manipulator[J].Mechanism & Machine Theory,2009,44(9):1648- 1657.
[11] 张飞,喻洪流,王露露,等.康复机器人的分类探讨[J].中华物理医学与康复杂志,2017,39(8):633-636.ZHANG Fei,YU Hongliu,WANG Lulu,et al.Classification of Rehabilitative Robots[J].Chinese Journal of Physical Medicine and Rehabilitation,2017,39(8):633-636.
[12] 张晓玉,王凯旋.机器人辅助技术、康复机器人与智能辅具[J].中国康复,2013,28(4):246-248.ZHANG Xiaoyu,WANG Kaixuan.Robot Assisted Rehabilitation Technology,Robotics and Intelligent Devices [J].Chinese Journal of Rehabilitation,2013,28(4):246-248.
[13] PATURCA S V,PETRE D,BANICA C K,et al.An Approach in Biotechnology Education-laboratory for Medical Rehabilitation Robots,Assistive Care and Tele-robots[J].Journal of Biotechnology,2016,231:S99-S99.
[14] 禹润田,方跃法,郭盛.绳驱动并联踝关节康复机构设计及运动性能分析[J].机器人,2015,37(1):53-62.YU Runtian,FANG Yuefa,Guo Sheng.Design and Kinematic Performance Analysis of a Cable-driven Parallel Mechanism for Ankle Rehabilitation[J].Robot,2015,37(1):53-62.
[15] KUMAR S,BONGARDT B,SIMNOFSKE M,et al.Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle[J].Journal of Intelligent & Robotic Systems,2018,90(3):1-23.
[16] FANG Y,TSAI L W.Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures[J].International Journal of Robotics Research,2002,21(9):799-810.
[17] 李香平,舒彬,顾小红,等.中国正常成人步行时空参数分析[J].中国康复医学杂志,2012,27(3):227-230.LI Xiangping,SHU Bin,GU Xiaohong,et al.Temporal-spatial Parameters of Gait:Reference Data of Normal Subjects from Chinese Adults[J].Chinese Journal of Rehabilitation Medicine,2012,27(3):227-230.
[18] 姜礼杰,王良诣,王勇,等.一种混合输入并联拟人步态康复机器人的机构设计与分析[J].机器人,2016,38(4):495-503.JIANG Lijie,WANG Liangyi,WANG Yong,et al.Mechanism Design and Analysis of a Hybrid-input Parallel Rehabilitation Robot with Humanoid Gaits [J].Robot,2016,38(4):495-503.
[19] WINTER A.Gait Data.Int.Soc.Bio-mechanics,Bio- mechanical Data Resources[EB/OL].http:// guardian.curtin.edu.au/org /data/
[20] KIRTLEY C.CGA Normative Gait Database,[EB/OL].Hong Kong Polytechnic Univ.http://guardian.curtin.edu.au/cga/data/
[21] LINSKELL J.CGA Normative Gait Database,Limb Fitting Center,Dundee,Scotland.[EB/OL].Available:http://guardian.curtin.edu.au/cga /data/
[22] PARENTEAU C S,VIANO D C,Petit P Y.Biomechanical Properties of Human Cadaveric Ankle-Subtalar Joints in Quasi-static Loading [J].Journal of Biomechanical Engineering,1998,120(1):105-11.
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