手臂康复机器人系统研究
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摘要
康复机器人是近年出现的一种新型机器人,康复训练机器人的主要功能是帮助患者完成各种运动功能恢复训练。从工作原理上看,康复机器人是一种人机合作机器人,它必须适合人的运动特点,满足人的运动要求。为此本文设计了一种通过机械手带动患者的患肢运动,模拟日常生活中的手臂运动规律,通过计算机控制实现手臂各个关节的运动训练、肌肉锻炼以及神经功能恢复训练的上肢康复训练机器人。
本文深入分析了手臂康复机器人国内外的发展现状,讨论了康复医学理论中关于康复训练的方法、过程,总结出对康复机器人设计的要求。按照此要求,并根据作业空间分析结果,设计了一种新型的手臂康复机器人。该机器人具有五个自由度,与人手臂的运动相适应。根据中国成年人手臂的运动范围确定了康复机器人的结构尺寸,并留有一定余量,以适应不同身高的患者。根据康复机器人与人合作的特点,采用轨迹控制及阻抗控制两种控制方式。
利用D-H法分别对手臂及康复机器人进行了运动学分析,得到了手臂及康复机器人的正逆运动学方程。利用Matlab/SimMechanics对所推导的机器人运动学正、逆分析的结果进行检验,仿真结果表明了运动学分析结果正确性,同时也验证了本文所设计的康复机器人满足手臂康复对工作空间的要求。对手臂康复人机系统进行了运动规划和仿真分析。
研究手臂和机器人的动力学特性。建立了手臂和机器人力学模型,利用虚功原理求解了广义力。应用拉格朗日方法建立了手臂和机器人的动力学方程。通过机构建模方法对手臂和机器人进行了动力学建模。针对复合康复训练的平面“8字形”和圆期望运动轨迹进行了仿真分析,仿真结果表明手臂惯性并没有引起机器人驱动力的突变和大幅度增加。
研究了机器人柔顺控制策略。对手臂康复训练机器人的运动训练模式和手臂肌力训练模式进行了研究。运动训练模式采用基于位置外环的阻抗控制方式,手臂肌力训练模式采用基于力外环的阻抗控制方式。建立了基于MATLAB/Simulink的仿真模型,仿真结果表明,所设计的控制器能够分别实现机器人末端运动轨迹控制和力控制,并且具有一定的柔顺性。通过调整阻抗控制器参数,可以得到不同的柔顺特性。
研制了两自由度康复机器人样机,基于dSPACE平台建立了康复机器人实验系统。进行了轨迹控制实验、刚度控制实验、阻抗控制等实验。研究了阻抗控制器参数对控制效果的影响。实验结果证明了理论分析的正确性及本文设计的康复机器人的可行性。
The rehabilitation robots are a new kind of robots appeared recently. The major function of rehabilitation robots is to help patient complete rehabilitation training of all athletic functions. According to the principle of work, rehabilitation robots are a human-machine cooperation robot. The rehabilitation robots must be suitable for movement characteristics of people, and meet movement demand of people. A type of arm rehabilitation robots is designed in this dissertation. The robot is used to drive arm of patients move through manipulator. And it can be simulated the arm movements rules of daily life. The athletic training, muscles exercises and neurological recovery training of each joint arm are realized through computer control.
The developing situation at home and abroad of arm rehabilitation robots is deeply analyzed in this dissertation. And the method and process of rehabilitation training in Rehabilitation Medicine are discussed. The demand of rehabilitation robots design is summarized. On the basic of that and the analyzed conclusion of working space, a new type of arm rehabilitation robots is designed. The robots have 5 DOF, which is in keeping with the movement of reality. Based on the arm movement range of Chinese adults, the physical dimension of rehabilitation robots is defined and the definite allowance is retained to satisfy the patient with different heights. According to the characteristics of cooperation between robots and human, path control and impedance control are both used as control mode.
The kinematics analysis of arm and rehabilitation robots is analyzed separately by using D-H method. The forward kinematics equation and inverse kinematics equation of arm and rehabilitation robot are obtained. The result of forward and inverse kinematics analysis is tested by using Matlab/SimMechanics. The correctness of kinematics analysis is validated through simulation results. At the same time it is also validated that the rehabilitation robot designed in this dissertation meet the working space requirements of arm rehabilitation. The motion planning and simulation analysis of arm rehabilitation man-machine system are also done in this dissertation.
The dynamic properties of arm and robots are studied. The mechanical models of arm and robots are established. The generalized force is solved by using principle of virtual work. The dynamical equation is established with the Lagrange methods. The dynamical modeling of arm and robots is also established through mechanism modeling method. The "8" form path and cycle desired path of the surface motion with rehabilitation training are analyzed separately through simulation. The catastrophe and vast scale increment of robots driving force are not caused by the inertia of arm through the simulation results.
The compliance control strategy of robots is studied. The athletic training mode and arm muscle strength training mode of arm rehabilitation robots are researched. Motion training mode is studied by taking the impedance control mode of position control in external loop. Arm muscle strength mode is studied by taking the impedance control mode of force control in external loop. Based on the MATLAB/Simulink, the simulation model is established. The motion path control of robot's end and force control are separately realized by the designed controller through the simulation results. And it is of definite compliance. The different compliance characteristics are obtained by adjusting the parameters of impedance controller.
The prototype of 2-DOF rehabilitation robots is developed. The experimental system of rehabilitation robots is built up based on dSPACE. And the experiments of path control, stiffness control and impedance control are done. The effects between impedance control parameters and control effect are also studied. The correctness of theoretical analysis and feasibility of rehabilitation robots designed in this dissertation are verified through the experimental results.
本文深入分析了手臂康复机器人国内外的发展现状,讨论了康复医学理论中关于康复训练的方法、过程,总结出对康复机器人设计的要求。按照此要求,并根据作业空间分析结果,设计了一种新型的手臂康复机器人。该机器人具有五个自由度,与人手臂的运动相适应。根据中国成年人手臂的运动范围确定了康复机器人的结构尺寸,并留有一定余量,以适应不同身高的患者。根据康复机器人与人合作的特点,采用轨迹控制及阻抗控制两种控制方式。
利用D-H法分别对手臂及康复机器人进行了运动学分析,得到了手臂及康复机器人的正逆运动学方程。利用Matlab/SimMechanics对所推导的机器人运动学正、逆分析的结果进行检验,仿真结果表明了运动学分析结果正确性,同时也验证了本文所设计的康复机器人满足手臂康复对工作空间的要求。对手臂康复人机系统进行了运动规划和仿真分析。
研究手臂和机器人的动力学特性。建立了手臂和机器人力学模型,利用虚功原理求解了广义力。应用拉格朗日方法建立了手臂和机器人的动力学方程。通过机构建模方法对手臂和机器人进行了动力学建模。针对复合康复训练的平面“8字形”和圆期望运动轨迹进行了仿真分析,仿真结果表明手臂惯性并没有引起机器人驱动力的突变和大幅度增加。
研究了机器人柔顺控制策略。对手臂康复训练机器人的运动训练模式和手臂肌力训练模式进行了研究。运动训练模式采用基于位置外环的阻抗控制方式,手臂肌力训练模式采用基于力外环的阻抗控制方式。建立了基于MATLAB/Simulink的仿真模型,仿真结果表明,所设计的控制器能够分别实现机器人末端运动轨迹控制和力控制,并且具有一定的柔顺性。通过调整阻抗控制器参数,可以得到不同的柔顺特性。
研制了两自由度康复机器人样机,基于dSPACE平台建立了康复机器人实验系统。进行了轨迹控制实验、刚度控制实验、阻抗控制等实验。研究了阻抗控制器参数对控制效果的影响。实验结果证明了理论分析的正确性及本文设计的康复机器人的可行性。
The rehabilitation robots are a new kind of robots appeared recently. The major function of rehabilitation robots is to help patient complete rehabilitation training of all athletic functions. According to the principle of work, rehabilitation robots are a human-machine cooperation robot. The rehabilitation robots must be suitable for movement characteristics of people, and meet movement demand of people. A type of arm rehabilitation robots is designed in this dissertation. The robot is used to drive arm of patients move through manipulator. And it can be simulated the arm movements rules of daily life. The athletic training, muscles exercises and neurological recovery training of each joint arm are realized through computer control.
The developing situation at home and abroad of arm rehabilitation robots is deeply analyzed in this dissertation. And the method and process of rehabilitation training in Rehabilitation Medicine are discussed. The demand of rehabilitation robots design is summarized. On the basic of that and the analyzed conclusion of working space, a new type of arm rehabilitation robots is designed. The robots have 5 DOF, which is in keeping with the movement of reality. Based on the arm movement range of Chinese adults, the physical dimension of rehabilitation robots is defined and the definite allowance is retained to satisfy the patient with different heights. According to the characteristics of cooperation between robots and human, path control and impedance control are both used as control mode.
The kinematics analysis of arm and rehabilitation robots is analyzed separately by using D-H method. The forward kinematics equation and inverse kinematics equation of arm and rehabilitation robot are obtained. The result of forward and inverse kinematics analysis is tested by using Matlab/SimMechanics. The correctness of kinematics analysis is validated through simulation results. At the same time it is also validated that the rehabilitation robot designed in this dissertation meet the working space requirements of arm rehabilitation. The motion planning and simulation analysis of arm rehabilitation man-machine system are also done in this dissertation.
The dynamic properties of arm and robots are studied. The mechanical models of arm and robots are established. The generalized force is solved by using principle of virtual work. The dynamical equation is established with the Lagrange methods. The dynamical modeling of arm and robots is also established through mechanism modeling method. The "8" form path and cycle desired path of the surface motion with rehabilitation training are analyzed separately through simulation. The catastrophe and vast scale increment of robots driving force are not caused by the inertia of arm through the simulation results.
The compliance control strategy of robots is studied. The athletic training mode and arm muscle strength training mode of arm rehabilitation robots are researched. Motion training mode is studied by taking the impedance control mode of position control in external loop. Arm muscle strength mode is studied by taking the impedance control mode of force control in external loop. Based on the MATLAB/Simulink, the simulation model is established. The motion path control of robot's end and force control are separately realized by the designed controller through the simulation results. And it is of definite compliance. The different compliance characteristics are obtained by adjusting the parameters of impedance controller.
The prototype of 2-DOF rehabilitation robots is developed. The experimental system of rehabilitation robots is built up based on dSPACE. And the experiments of path control, stiffness control and impedance control are done. The effects between impedance control parameters and control effect are also studied. The correctness of theoretical analysis and feasibility of rehabilitation robots designed in this dissertation are verified through the experimental results.
引文
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