摘要
针对目前踝关节康复机器人不同程度地存在机构自由度冗余、机构复杂、控制难度较大等问题,采用了一种3-RUPS/S型并联机构用以实现踝关节康复运动.对康复机器人机构进行设计,采用D-H法对机构的位置反解进行分析,得到其驱动杆长随姿态角度的变化关系.利用数值解析法进行位置正解分析,并结合电动推杆的电位器数据及姿态传感器检测的动平台姿态角的变化信息实施康复机器人样机的控制.实验结果表明,踝关节康复机器人能够带动踝关节进行康复训练,满足人体踝关节的运动需求.
A novel 3-RUPS/S parallel mechanism is presented for ankle rehabilitation to solve the existing problems about redundant degrees of freedom, complicated mechanism and difficult control. The robot with parallel mechanism is designed, the inverse kinematics of the mechanism is given based on D-H method, and the driver length with the change of rotation angle of parallel mechanism is outputted through programming. The forward kinematics of the mechanism is analyzed based on the numerical analysis method, and the control of rehabilitation robot prototype is implemented based on potentiometer data of linear actuator and pose angle data of mobile platform through the attitude sensor. The experiment results show that the parallel mechanism for ankle rehabilitation can realize rehabilitation training of ankle joint and meet the requirements of ankle rehabilitation.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2015年第1期45-50,共6页
Journal of Southeast University：Natural Science Edition
基金
国家自然科学基金青年基金资助项目(51205182)
江苏省自然科学基金资助项目(BK2012474)
江苏省大学生创新项目资助项目(201311276009Z)
关键词
踝关节康复机器人
并联机构
运动学分析
样机实验
robot for ankle rehabilitation
parallel mechanism
kinematics analysis
prototype experiment
