助行训练机器人机构设计及驱动控制研究
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摘要
随着科学技术的发展和人民生活水平的提高,和世界很多国家一样,中国正在步入一个交通繁杂的老龄化社会,偏瘫正在困扰着越来越多的家庭。医学理论和临床医学证明,偏瘫患者除了早期的手术治疗和必要的药物治疗外,正确的、科学的康复训练对于肢体运动功能的恢复和提高起到非常重要的作用。康复机器人作为一种自动化康复医疗设备应运而生,康复机器人的研究也受到了越来越多人的关注。
本文介绍了康复训练机器人的国内外发展现状以及应用情况,首先,通过对前人研究成果的分析得出了人在行走过程中重心的运动情况,包括重心的轨迹、移动的速度和加速度,然后对助行训练机器人的机械结构进行了设计,、提出了一种新的重心控制机构,以一种新的方式将其与重力补偿机构进行了结合,下肢方面,利用杆机构模仿人腿的行走过程,从仿生学的角度对人行走过程中大腿和小腿之间的关系进行了模仿。最后,对整个机构进行了控制仿真和关键部位的强度仿真分析,以及控制系统的硬件电路设计。
本文完成了助行训练机器人的机构设计,对关键部件进行了力学分析,对下肢控制机构进行了运动学仿真,并对控制系统的硬件电路和软件流程进行了设计,为下一步的实验研究奠定了基础。
As the development of science and technology and the elevations of people's living standards, as many countries in the world,China is entering a trafic conplicated aging society, hemiplegia is troubling more and more families. Medical theories and clinical evidence, for patients with hemiplegia, the correct and scientific training for the rehabilitation of limb motor function recovery and improve is very important, in addition to the early surgical treatment and necessary medical treatment. as an automated recovery of medical equipment,rehabilitation robot came into being, the atteation to rehabilitation robotics research is also growing.
The thesis describes the development of rehabilitation training robot at home and abroad as well as the status of the application, first of all, through the analysis of previous research results obtained the moving status of barycenter thought the walking movement, including the trajectory of barycenter, moving speed and acceleration, and then the training walker robot's mechanical structure has been designed, proposed a new mechanical structure to control the barycenter, combined it with the gravity compensation system in a new way. for the lower limb, imitate the linkage of human leg-bar in walking process in use of bar mechanism, the relationship between the thigh and calf in human walking process were imitated from the perspective of bionics. Finally, simulation the control of the entire institution, simulation and analysis of the intensity for the key parts, and control system hardware circuit design.
This thesis researched the design of training walker robot's body, made mechanical analysis of the key components and kinematics simulation for the lower limb control agencies, designed the control system hardware circuit and software processes, all of which provided foundation.for the further experiment and study.
本文介绍了康复训练机器人的国内外发展现状以及应用情况,首先,通过对前人研究成果的分析得出了人在行走过程中重心的运动情况,包括重心的轨迹、移动的速度和加速度,然后对助行训练机器人的机械结构进行了设计,、提出了一种新的重心控制机构,以一种新的方式将其与重力补偿机构进行了结合,下肢方面,利用杆机构模仿人腿的行走过程,从仿生学的角度对人行走过程中大腿和小腿之间的关系进行了模仿。最后,对整个机构进行了控制仿真和关键部位的强度仿真分析,以及控制系统的硬件电路设计。
本文完成了助行训练机器人的机构设计,对关键部件进行了力学分析,对下肢控制机构进行了运动学仿真,并对控制系统的硬件电路和软件流程进行了设计,为下一步的实验研究奠定了基础。
As the development of science and technology and the elevations of people's living standards, as many countries in the world,China is entering a trafic conplicated aging society, hemiplegia is troubling more and more families. Medical theories and clinical evidence, for patients with hemiplegia, the correct and scientific training for the rehabilitation of limb motor function recovery and improve is very important, in addition to the early surgical treatment and necessary medical treatment. as an automated recovery of medical equipment,rehabilitation robot came into being, the atteation to rehabilitation robotics research is also growing.
The thesis describes the development of rehabilitation training robot at home and abroad as well as the status of the application, first of all, through the analysis of previous research results obtained the moving status of barycenter thought the walking movement, including the trajectory of barycenter, moving speed and acceleration, and then the training walker robot's mechanical structure has been designed, proposed a new mechanical structure to control the barycenter, combined it with the gravity compensation system in a new way. for the lower limb, imitate the linkage of human leg-bar in walking process in use of bar mechanism, the relationship between the thigh and calf in human walking process were imitated from the perspective of bionics. Finally, simulation the control of the entire institution, simulation and analysis of the intensity for the key parts, and control system hardware circuit design.
This thesis researched the design of training walker robot's body, made mechanical analysis of the key components and kinematics simulation for the lower limb control agencies, designed the control system hardware circuit and software processes, all of which provided foundation.for the further experiment and study.
引文
[1]赵唯伟.卧式下肢康复机器人控制系统研究.哈尔滨工程大学研究生学位论文.2007.3：6-10.
[2]夏昊听.下肢康复机器人的研究.哈尔滨工程大学研究生学位论文.2003.1：9-12.
[3]Deutsch, J. J. Latonio, G. Burdea and.R. Boian. Post-stroke rehabilitation with the Rutgers Ankle system-A case study Presence, vol.10(4), MITPress,August 2001:12-15.
[4]Bauby, C. E. and Huo. Active control of lateral balance in human.walking.J ournal of Biomechanics,vol.33.2000:1433-1440.
[5]M. Girone, G Burdea, M. Bouzit and V. Popescu. A stewart platform-based fo r ankle tele-rehabilitation. Journal of Aut on om ousR obots,v ol.10, 2001:203-212.
[6]Dijkers M, deBearP, P C.Patient and staffaCcptance of robotic techology in occupaitonal therapy:A pilot study.Journal of Rehabilitation Reesarch & Development.1991.28(2):33-44.
[7]颜庆.下肢康复机器人控制及实验研究.哈尔滨工业大学研究生学位论文.2004.12.30：5-8.
[8]林海华.基与ATmega8515L的舞蹈机器人控制系统设计与研究.西北工业大学研究生学位论文.2005.2：23-34.
[9]刘攀,张立勋,万晓正,张今瑜.人体骨盆位姿模拟机构的运动学分析及仿真.机械设计,2009.9.26(9)：31-33.
[10]张立勋,夏振涛,刘富强,王令军.助行训练机器人骨盆位姿控制机构研究.机械设计,2009.5.26(5)：42-45.
[11]David Jack, Rares Boian. Virtual reality-enhanced strockere habilitation. IEEE Transaction on neural systems and rehabilitation engineering,Vol.9N o.3.2001.9:308-318.
[12]张立勋,赵凌燕,胡明茂.下肢康复机器人的重心轨迹控制研究[J].应用科技,2005,32(4)：54-56.
[13]ZHAO Ling-yah, ZHANG Lixun, WANG Imetal. Three dimensionalmotion the pelvis during human walking[C] IEEE ICMA2005, Niagara Falls, Ontario, Canada,2005:115-118
[14]张立勋,王克义,张今喻.人体步态周期中骨盆自由度的分析[J].机械设计,2008,25(1)：12-14.
[15]Yves Staufer. Pelvic motion implementation on the walk trainer[C] 2007 IEEE International Conference Oil Robotics and Biomim etics December Sanya, China,2007:15-18.
[16]金德文,张济川,康复工程学的研究与发展.现代康复.Vo1.4 No.5 2000.
[17]Michael Peshkin., David A Brown, Julio J Santos, Munn. KineAssist:A robotic over-ground t and balance training device[c]. In:Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, Chicago, IL, USA,2005.
[18]张立勋,王克义,张今瑜,王岚.基于绳索牵引的骨盆运动并联康复机器人的可控性研究[J],哈尔滨工程大学学报,2007,28(7)：790-794.
[19]LSK直线导轨说明书
[20]黄锡恺,郑文纬.机械原理.高等教育出版社.1991,112-128。
[21]金季春,刘静民.成年人人体惯性标准的制定.北京体育大学博士学位论文.2004：27-28
[22]刘攀,张立勋,万晓正,张今瑜.人体骨盆位姿模拟机构的运动学分析及仿真.机械设计.2009.9：37-39.
[23]Frank C. Anderson and Marcus G Pandy. Dynamic simulation of human motion in three dimensions.Sixth International Symposium on the 3-D Analysis of Human Movement,Cape Town,SouthA frica,May 1-4,2000
[24]杨可祯,程光蕴.机械设计基础.高等教育出版社,第3版,1989：33-46
[25]蔡春源.机电液设计手册.机械工业出版社.1997：34-52.
[26]马新娟,基于视频处理的下肢运动分析及实验研究.哈尔滨工程大学研究生学位论文.2007.1：35-38.
[27]赵彦峻,徐诚,王亚平,骆宇飞.人体下肢外骨骼步态分析及仿真.系统仿真学报[C],2007.10.19(2)：52-54.
[28]孙建东,金德文,一种下肢被动运动康复训练器.中国康复医学杂志,Vol.16 No.5.2001：56-59.
[29]胡伟佳,被动式康复训练机器人的设计与研究.哈尔滨工程大学研究生学位论文.2007.1：23-25
[30]嘉木工作室.ANSYS 5.7有限元实例分析教程.2002.3：3-4.
[31]刘慧颖.MATLAB R2006a基础教程.清华大学出版社,2007.1：2-3.
[32]张华伟.基于Matlab/Simulink的4100QB柴油机工作过程建模与仿真.西南林学院硕士研究生学位论文.2007.9：30-32.
[33]孙巍.基于Matlab-Simulink的仿真模型库技术研究,长春理工大学硕士研究生学位论文.2009.3：8-12.
[34]徐林.基于Simulink的一体化实时半实物仿真平台的研究与实现,国防科学技术大学硕士学位论文.2008.9：20-23.
[35]王哗.基于函数逼近的柔性机械臂变轨迹迭代学习控制,浙江大学硕士学位论文.2008.5：58-60.
[36]陈端详.六自由度冗余驱动并联机器人空盒子策略的研究,东华大学硕士研究生学位论文.2008.9：50-52.
[37]张立勋,董玉红.机电系统仿真与设计.哈尔滨工程大学出版社.2006.45-56.
[38]张志勇.精通MATLAB6.5版.北京航空航天大学出版社, 2003.63-68.
[39]张立勋,路敦民,董玉红等.五杆式人机合作机器人运动学分析及仿真.哈尔滨工程大学学报。2005.26(2)：184-188.
[40]黄永安,马路,刘慧敏.MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用.清华大学出版社.2005.12：262-280.
[41]葛永强.基于AVR单片机的伺服电机系统研究.大连海事大学研究生学位论文.2007.3：23-25.
[42]耿德根,宋建国,马潮.叶勇建.AVR高速嵌入式单片机原理与应用.2003：4-67.
[43]R.F.格拉夫.电子电路百科全书.科学出版社.1986：33-35.
[44]H.R.Boltonetal.Investigation into a Class of Brushless DC Motor with Quasisquare Voltages and Cunent.IEE Proe.9th.1986.133(2):103-111.
[45]耿德根,宋建国,马潮等.AVR高速嵌入式单片机原理与应用[M].北京：北京航空航天大学出版社.2002：58-62.
[46]王小明.电动机的单片机控制.北京航空航天大学出版社,2002：125-149.
[47]高金源等编著计算机控制系统-理论、设计与实现北京航空航天大学出版社2002.2：162-165.
[48]冯勇.现代计算机控制系统.哈尔滨工业大学出版社.1997.1：135－146.
[49]耿德根等AVR高速嵌入式单片机原理与应用(修订版)北京航空航天大学出版社2002.10.98-112.
[50]马义方.无刷直流电机伺服系统先进控制策略的研究.浙江大学研究生学位论文.2006.2：35-38.
[51]张振荣,晋明武,王毅平.MCS-51单片机原理及其实用技术[M].人民邮电出版社.2000：87-96.
[2]夏昊听.下肢康复机器人的研究.哈尔滨工程大学研究生学位论文.2003.1：9-12.
[3]Deutsch, J. J. Latonio, G. Burdea and.R. Boian. Post-stroke rehabilitation with the Rutgers Ankle system-A case study Presence, vol.10(4), MITPress,August 2001:12-15.
[4]Bauby, C. E. and Huo. Active control of lateral balance in human.walking.J ournal of Biomechanics,vol.33.2000:1433-1440.
[5]M. Girone, G Burdea, M. Bouzit and V. Popescu. A stewart platform-based fo r ankle tele-rehabilitation. Journal of Aut on om ousR obots,v ol.10, 2001:203-212.
[6]Dijkers M, deBearP, P C.Patient and staffaCcptance of robotic techology in occupaitonal therapy:A pilot study.Journal of Rehabilitation Reesarch & Development.1991.28(2):33-44.
[7]颜庆.下肢康复机器人控制及实验研究.哈尔滨工业大学研究生学位论文.2004.12.30：5-8.
[8]林海华.基与ATmega8515L的舞蹈机器人控制系统设计与研究.西北工业大学研究生学位论文.2005.2：23-34.
[9]刘攀,张立勋,万晓正,张今瑜.人体骨盆位姿模拟机构的运动学分析及仿真.机械设计,2009.9.26(9)：31-33.
[10]张立勋,夏振涛,刘富强,王令军.助行训练机器人骨盆位姿控制机构研究.机械设计,2009.5.26(5)：42-45.
[11]David Jack, Rares Boian. Virtual reality-enhanced strockere habilitation. IEEE Transaction on neural systems and rehabilitation engineering,Vol.9N o.3.2001.9:308-318.
[12]张立勋,赵凌燕,胡明茂.下肢康复机器人的重心轨迹控制研究[J].应用科技,2005,32(4)：54-56.
[13]ZHAO Ling-yah, ZHANG Lixun, WANG Imetal. Three dimensionalmotion the pelvis during human walking[C] IEEE ICMA2005, Niagara Falls, Ontario, Canada,2005:115-118
[14]张立勋,王克义,张今喻.人体步态周期中骨盆自由度的分析[J].机械设计,2008,25(1)：12-14.
[15]Yves Staufer. Pelvic motion implementation on the walk trainer[C] 2007 IEEE International Conference Oil Robotics and Biomim etics December Sanya, China,2007:15-18.
[16]金德文,张济川,康复工程学的研究与发展.现代康复.Vo1.4 No.5 2000.
[17]Michael Peshkin., David A Brown, Julio J Santos, Munn. KineAssist:A robotic over-ground t and balance training device[c]. In:Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, Chicago, IL, USA,2005.
[18]张立勋,王克义,张今瑜,王岚.基于绳索牵引的骨盆运动并联康复机器人的可控性研究[J],哈尔滨工程大学学报,2007,28(7)：790-794.
[19]LSK直线导轨说明书
[20]黄锡恺,郑文纬.机械原理.高等教育出版社.1991,112-128。
[21]金季春,刘静民.成年人人体惯性标准的制定.北京体育大学博士学位论文.2004：27-28
[22]刘攀,张立勋,万晓正,张今瑜.人体骨盆位姿模拟机构的运动学分析及仿真.机械设计.2009.9：37-39.
[23]Frank C. Anderson and Marcus G Pandy. Dynamic simulation of human motion in three dimensions.Sixth International Symposium on the 3-D Analysis of Human Movement,Cape Town,SouthA frica,May 1-4,2000
[24]杨可祯,程光蕴.机械设计基础.高等教育出版社,第3版,1989：33-46
[25]蔡春源.机电液设计手册.机械工业出版社.1997：34-52.
[26]马新娟,基于视频处理的下肢运动分析及实验研究.哈尔滨工程大学研究生学位论文.2007.1：35-38.
[27]赵彦峻,徐诚,王亚平,骆宇飞.人体下肢外骨骼步态分析及仿真.系统仿真学报[C],2007.10.19(2)：52-54.
[28]孙建东,金德文,一种下肢被动运动康复训练器.中国康复医学杂志,Vol.16 No.5.2001：56-59.
[29]胡伟佳,被动式康复训练机器人的设计与研究.哈尔滨工程大学研究生学位论文.2007.1：23-25
[30]嘉木工作室.ANSYS 5.7有限元实例分析教程.2002.3：3-4.
[31]刘慧颖.MATLAB R2006a基础教程.清华大学出版社,2007.1：2-3.
[32]张华伟.基于Matlab/Simulink的4100QB柴油机工作过程建模与仿真.西南林学院硕士研究生学位论文.2007.9：30-32.
[33]孙巍.基于Matlab-Simulink的仿真模型库技术研究,长春理工大学硕士研究生学位论文.2009.3：8-12.
[34]徐林.基于Simulink的一体化实时半实物仿真平台的研究与实现,国防科学技术大学硕士学位论文.2008.9：20-23.
[35]王哗.基于函数逼近的柔性机械臂变轨迹迭代学习控制,浙江大学硕士学位论文.2008.5：58-60.
[36]陈端详.六自由度冗余驱动并联机器人空盒子策略的研究,东华大学硕士研究生学位论文.2008.9：50-52.
[37]张立勋,董玉红.机电系统仿真与设计.哈尔滨工程大学出版社.2006.45-56.
[38]张志勇.精通MATLAB6.5版.北京航空航天大学出版社, 2003.63-68.
[39]张立勋,路敦民,董玉红等.五杆式人机合作机器人运动学分析及仿真.哈尔滨工程大学学报。2005.26(2)：184-188.
[40]黄永安,马路,刘慧敏.MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用.清华大学出版社.2005.12：262-280.
[41]葛永强.基于AVR单片机的伺服电机系统研究.大连海事大学研究生学位论文.2007.3：23-25.
[42]耿德根,宋建国,马潮.叶勇建.AVR高速嵌入式单片机原理与应用.2003：4-67.
[43]R.F.格拉夫.电子电路百科全书.科学出版社.1986：33-35.
[44]H.R.Boltonetal.Investigation into a Class of Brushless DC Motor with Quasisquare Voltages and Cunent.IEE Proe.9th.1986.133(2):103-111.
[45]耿德根,宋建国,马潮等.AVR高速嵌入式单片机原理与应用[M].北京：北京航空航天大学出版社.2002：58-62.
[46]王小明.电动机的单片机控制.北京航空航天大学出版社,2002：125-149.
[47]高金源等编著计算机控制系统-理论、设计与实现北京航空航天大学出版社2002.2：162-165.
[48]冯勇.现代计算机控制系统.哈尔滨工业大学出版社.1997.1：135－146.
[49]耿德根等AVR高速嵌入式单片机原理与应用(修订版)北京航空航天大学出版社2002.10.98-112.
[50]马义方.无刷直流电机伺服系统先进控制策略的研究.浙江大学研究生学位论文.2006.2：35-38.
[51]张振荣,晋明武,王毅平.MCS-51单片机原理及其实用技术[M].人民邮电出版社.2000：87-96.