1R2T绳索牵引并联康复机器人绳索弹性研究

Elasticity of 1R2T Wire-driven Parallel Rehabilitation Robots

该文以平面三自由度(1R2T型)绳索牵引康复机器人为对象,分析了绳索弹性和绳索拉力对骨盆(动平台)静态刚度的影响,发现不同绳索弹性时,相同绳索拉力对动平台静态刚度影响不同。利用ADAMS软件对绳索拉力和绳索刚度的影响情况进行了机构仿真,发现绳索弹性对系统静态刚度的影响比绳索拉力大。分析并仿真了系统受外界干扰后的振动状态,结果表明,增大绳索拉力可以提高系统的抗干扰性。建立了考虑绳索弹性的动力学方程,以期望轨迹通过逆动力学方程计算出的绳索拉力作为系统动力学的输入,用ADAMS和MATLAB进行系统动力学仿真和实验,结果表明,绳索的弹性使骨盆的实际运动范围变小,且出现了位姿误差,距起始点越远该误差越大。

Based on the 3-DOF（1R2T type）wire-driven plane system of the parallel rehabilitation robot,the effects of the wire elasticity and tension on the static stiffness of the moving platform are analyzed.It is dissoverd that,if tensions are the same,the effects are different according to the various wire elasticity.The ADAMS software is used to simulate the influencing relationship between wire tension and wire stiffness,finding out that the effect of wire elasticity on the static stiffness is greater than that of the tension.The vibration state of the disturbed system is also simulated and the results indicate that the anti-jamming performance can be improved by increasing the tension.The dynamic equations containing the wire elasticity are built and used to calculate the system inputs including the wire tensions according to the desired trajectory.The dynamic characteristics of the system are analyzed by simulating in the ADAMS and MATLAB.The experimental investigation is conducted as well.Both results show that,because of the wire elasticity,the practical motion range of the moving platform decreases and the pose error appeares and becomes bigger as the controlling distance increases.