空间SSPR-R辅助上下床机器人结构设计与分析

Structural Design and Analysis of Space SSPR-R Auxiliary Robot for On-and-off Bed Operations

空间SSPR-R辅助上下床机器人属于欠驱动空间机构,包括具有确定运动的空间SSPR机构和一个自由转动的R副拖脚垫。首先,建立人体下肢骨骼与空间SSPR-R机器人的一体化模型,绘制整个人机系统的机构运动简图,完成人机系统的数综合;其次,分别选择人体下肢环路和空间SSPR环路求解拖脚垫理想转角与实际转角,优化搜索符合转角差最小的各构件杆长,完成空间SSPR-R机构的尺寸综合;最后,通过对机器人进行仿真与样机制作验证设计的合理性,结果表明,基于人机模型设计的空间SSPR-R辅助上下床机器人能够更好地顺应被辅助对象的生理结构,以对骨骼冲击较小的方式完成上下床辅助。

Space SSPR-R auxiliary on-and-off bed robot belongs to under-actuated space robot.It consists of a spatial SSPR mechanism with definite motion and a free rotating-R pair slipper pad.Firstly,the integrated model of human lower limb skeleton and space SSPR-R robot is established,and the motion diagram of the whole human-machine system is drawn to complete the number synthesis of humanmachine system,Secondly,the lower limb loop and spatial SSPR loop are selected to calculate the ideal and actual angle of the foot pad,The optimal length of each member with the minimum angle difference is searched to complete the dimensional synthesis of spatial SSPR-R mechanism,Finally,the rationality of the design is verified by simulation and prototype experiment,The results show that the space SSPR-R robot designed based on the human-machine model can better adapt to the physiological structure of the assisted object,and complete the on-and-off bed assistance with less impact on the bone.