3-SPS/S踝关节并联康复机构控制系统仿真
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摘要
踝关节是人体下肢关节中较易损伤的部位,针对其结构特点,搭建了基于3-SPS/S的并联康复机构并对其进行运动学反解.进而以3-SPS/S踝关节并联康复机构为研究对象,利用Matlab里的Sim Mechanics工具箱建立机构仿真平台,给出动平台规划运动轨迹并生成机构驱动杆输入运动信号,对机构模型进行仿真分析并给出3D效果图.结果表明,该方法为并联康复机构控制策略的研究提供了安全高效可视的仿真平台,便于展开针对并联康复机构特点的各种控制策略的研究.
The ankle is one of vulnerable parts of the lowlimb joints of the human body. Based on its structural characteristics,a 3-SPS/S parallel manipulator for ankle rehabilitation is built,and the inverse kinematics is solved by its dimensional characteristics. Then,the simulation platform of 3-SPS/S parallel manipulator for ankle rehabilitation is established by SimMechanics toolbox in Matlab software. A target trajectory is provided to produce input signals of actuating arms. Afterwards,the dynamics of parallel rehabilitation manipulator model are analyzed,and 3 D rendering is generated. The experimental results showthat it can provide the efficient and visual simulation platform to study the control strategy of parallel rehabilitation manipulator.
The ankle is one of vulnerable parts of the lowlimb joints of the human body. Based on its structural characteristics,a 3-SPS/S parallel manipulator for ankle rehabilitation is built,and the inverse kinematics is solved by its dimensional characteristics. Then,the simulation platform of 3-SPS/S parallel manipulator for ankle rehabilitation is established by SimMechanics toolbox in Matlab software. A target trajectory is provided to produce input signals of actuating arms. Afterwards,the dynamics of parallel rehabilitation manipulator model are analyzed,and 3 D rendering is generated. The experimental results showthat it can provide the efficient and visual simulation platform to study the control strategy of parallel rehabilitation manipulator.
引文
[1]Shah R,Shah S.Delayed presentation or delayed diagnosis?a retrospective study of prospectively collected data of 482 foot and ankle injuries[J].Injury,2017,48(17):27-32.
[2]卢志江.患者自主式踝关节康复机器人研发[D].广州:华南理工大学,2016.(Lu Zhi-jiang.Development of patient-independent ankle rehabilitation robot[D].Guangzhou:South China University of Technology,2016.)
[3]胡微微.一种新型踝关节康复训练机器人机构的研究[D].太原:中北大学,2017.(Hu Wei-wei.Study on a new type of ankle rehabilitation robot mechanism[D].Taiyuan:North University of China,2017.)
[4]尹诗明.踝关节康复机器人概念化设计及其控制策略研究[D].哈尔滨:哈尔滨工业大学,2016.(Yin Shi-ming.The conceptual design of ankle rehabilitation robot and research on its control strategy[D].Harbin:Harbin Institute of Technology,2016.)
[5]Kim J S,Jeong J H,Park J H.Inverse kinematics and geometric singularity analysis of a 3-SPS/S redundant motion mechanism using conformal geometric algebra[J].Mechanism and Machine Theory,2015,90:23-36.
[6]Wen S H,Qin G Q,Zhang B W,et al.The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot[J].Robotics and Autonomous Systems,2016,79:12-25.
[7]Bikash K S.Modeling and validation of a 2-DOF parallel manipulator for pose control application[J].Robotics and Computer Integrated Manufacturing,2018,50:234-241.
[8]Houssem S,Med A L,Sa6d Z.Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptic medical device[J].Robotics and Autonomous Systems,2017,89:40-50.
[9]Yang J F,Xu Z B,Wu Q W,et al.Dynamic modeling and control of a 6-DOF micro-vibration simulator[J].Mechanism and Machine Theory,2016,104:350-369.
[10]Wang C Z,Fang Y F,Guo S.Multi-objective optimization of a parallel ankle rehabilitation robot using modified differential evolution algorithm[J].Chinese Journal of Mechanical Engineering,2015,28(4):702-715.
[2]卢志江.患者自主式踝关节康复机器人研发[D].广州:华南理工大学,2016.(Lu Zhi-jiang.Development of patient-independent ankle rehabilitation robot[D].Guangzhou:South China University of Technology,2016.)
[3]胡微微.一种新型踝关节康复训练机器人机构的研究[D].太原:中北大学,2017.(Hu Wei-wei.Study on a new type of ankle rehabilitation robot mechanism[D].Taiyuan:North University of China,2017.)
[4]尹诗明.踝关节康复机器人概念化设计及其控制策略研究[D].哈尔滨:哈尔滨工业大学,2016.(Yin Shi-ming.The conceptual design of ankle rehabilitation robot and research on its control strategy[D].Harbin:Harbin Institute of Technology,2016.)
[5]Kim J S,Jeong J H,Park J H.Inverse kinematics and geometric singularity analysis of a 3-SPS/S redundant motion mechanism using conformal geometric algebra[J].Mechanism and Machine Theory,2015,90:23-36.
[6]Wen S H,Qin G Q,Zhang B W,et al.The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot[J].Robotics and Autonomous Systems,2016,79:12-25.
[7]Bikash K S.Modeling and validation of a 2-DOF parallel manipulator for pose control application[J].Robotics and Computer Integrated Manufacturing,2018,50:234-241.
[8]Houssem S,Med A L,Sa6d Z.Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptic medical device[J].Robotics and Autonomous Systems,2017,89:40-50.
[9]Yang J F,Xu Z B,Wu Q W,et al.Dynamic modeling and control of a 6-DOF micro-vibration simulator[J].Mechanism and Machine Theory,2016,104:350-369.
[10]Wang C Z,Fang Y F,Guo S.Multi-objective optimization of a parallel ankle rehabilitation robot using modified differential evolution algorithm[J].Chinese Journal of Mechanical Engineering,2015,28(4):702-715.