一种并联脚踝康复机构的运动学与工作空间分析
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摘要
对3-UPS/RRR并联脚踝康复机构的结构和特点进行了描述,建立了虚拟样机模型。首先利用螺旋理论计算机构自由度,确定机构运动类型,运用闭合矢量法建立机构位置反解模型,并结合瞬时螺旋运动理论求解机构速度雅可比矩阵,其次采用数值离散搜索法求解该机构的可达姿态空间,最后借助MATLAB软件对机构的运动学及工作空间进行仿真。结果表明该机构能够实现脚踝康复运动,工作空间无奇异且具有良好的动态特性。
In this article,the structure and characteristics of the 3-UPS/RRR parallel mechanism for ankle rehabilitation are illustrated,and the virtual prototype model is set up. First,the degree-of-freedom and the motion type of the mechanism are identified by means of the theory of screw; the solution of the inverse displacement analysis is derived from the close-loop vector; the mechanism's Jacobian matrix of velocity is solved by the instantaneous theory of screws. Then,the method of numerical discrete search is applied to define the feasible workspace. Finally,the MATLAB software is employed to simulate the kinematics and workspace of the mechanism. The results show that the mechanism can realize the motions of ankle rehabilitation,and the workspace with no singularity has good dynamitic characteristics.
In this article,the structure and characteristics of the 3-UPS/RRR parallel mechanism for ankle rehabilitation are illustrated,and the virtual prototype model is set up. First,the degree-of-freedom and the motion type of the mechanism are identified by means of the theory of screw; the solution of the inverse displacement analysis is derived from the close-loop vector; the mechanism's Jacobian matrix of velocity is solved by the instantaneous theory of screws. Then,the method of numerical discrete search is applied to define the feasible workspace. Finally,the MATLAB software is employed to simulate the kinematics and workspace of the mechanism. The results show that the mechanism can realize the motions of ankle rehabilitation,and the workspace with no singularity has good dynamitic characteristics.
引文
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[7] Zhao T S,Yu Hai-Bo,Jian S Dai. An ankle rehabilitation device based on 3-RSS/S parallel mechanism[J]. Journal of Yanshan University,2005,29(6).
[8]黄真,赵永生,赵铁石.高等空间机构学[M]. 2版.北京:高等教育出版社,2014:111-136.
[9] Jamwal P K,Xie S,Aw K C. Kinematic design optimization of a parallel ankle rehabilitation robot using modified genetic algorithm[J]. Robotics&Autonomous Systems,2009,57(10):1018-1027.
[10]张新.一种3-UPS/S球面并联机构的运动参数优化研究[D].秦皇岛:燕山大学,2013.
[11] Gallardo J,Orozco H,Rico J M. Kinematics of 3-RPS parallel manipulators by means of screw theory[J]. International Journal of Advanced Manufacturing Technology,2010,45(7):1013-1023.
[12]董成林,刘海涛,黄田.含冗余驱动支链4-UPS&UP并联机构的运动学性能分析[J].机械工程学报,2016,52(5):124-129.
[13]陈修龙,蒋德玉,陈林林,等.冗余并联机构运动学性能分析与优化[J].农业机械学报,2016,47(6):340-347.
[14]段艳宾,梁顺攀,曾达幸,等. 6-PUS/UPU并联机器人运动学及工作空间分析[J].机械设计,2011,28(3):36-40.
[2]李大海.基于3-RRS球面并联机构脚踝康复机器人的设计与研究[D].太原:中北大学,2016.
[3] Jamwal P K,Xie S,Aw K C. Kinematic design optimization of a parallel ankle rehabilitation robot using modified genetic algorithm[J]. Robotics&Autonomous Systems,2009,57(10):1018-1027.
[4]禹润田.新型绳驱动并联踝关节康复机构设计及分析[D].北京:北京交通大学,2015.
[5] Tsoi Y H,Xie S Q. Design and control of a parallel robot for ankle rehabilitation[M]. Geneva:Inderscience Publishers,2010:10-113.
[6] Wang C,Fang Y,Guo S,et al. Design and kinematical performance analysis of a 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation[J]. Journal of Mechanisms&Robotics,2013,5(4):041003.
[7] Zhao T S,Yu Hai-Bo,Jian S Dai. An ankle rehabilitation device based on 3-RSS/S parallel mechanism[J]. Journal of Yanshan University,2005,29(6).
[8]黄真,赵永生,赵铁石.高等空间机构学[M]. 2版.北京:高等教育出版社,2014:111-136.
[9] Jamwal P K,Xie S,Aw K C. Kinematic design optimization of a parallel ankle rehabilitation robot using modified genetic algorithm[J]. Robotics&Autonomous Systems,2009,57(10):1018-1027.
[10]张新.一种3-UPS/S球面并联机构的运动参数优化研究[D].秦皇岛:燕山大学,2013.
[11] Gallardo J,Orozco H,Rico J M. Kinematics of 3-RPS parallel manipulators by means of screw theory[J]. International Journal of Advanced Manufacturing Technology,2010,45(7):1013-1023.
[12]董成林,刘海涛,黄田.含冗余驱动支链4-UPS&UP并联机构的运动学性能分析[J].机械工程学报,2016,52(5):124-129.
[13]陈修龙,蒋德玉,陈林林,等.冗余并联机构运动学性能分析与优化[J].农业机械学报,2016,47(6):340-347.
[14]段艳宾,梁顺攀,曾达幸,等. 6-PUS/UPU并联机器人运动学及工作空间分析[J].机械设计,2011,28(3):36-40.