摘要
针对目前一种新型踝关节康复机器人,介绍了其整机系统组成和整机机构方案。在进行了背屈趾屈机构的详细设计后,分析了踝关节康复机器人的负载情况。利用ADAMS和MATLAB联合仿真技术,对新型踝关节康复机器人进行动力学分析和控制分析。仿真结果与样机试验数据进行比较,说明其机构设计和控制方案的可行性,并进一步对联合仿真技术在踝关节康复机器人上难点和实用性进行探讨。
The paper introduces the system composition and mechanism scheme of a novel ankle rehabilitation robot and analyzes the load of the robot based on the design of the dorsiflexion and flexor mechanism.In addition,based on the ADAMS and MATLAB joint simulation technology,dynamics analysis and control analysis of the ankle rehabilitation robot are carried out.Compared with the experimental data,the simulation results show the feasibility of the mechanism design and control scheme,and provide references for further discussion on difficulties and practicability of the joint simulation technology in ankle rehabilitation robot.
作者
刘其洪
陈川
王春宝
孙同阳
段丽红
李伟光
刘铨权
LIU Qihong;CHEN Chuan;WANG Chunbao;SUN Tongyang;DUAN Lihong;LI Weiguang;LIU Quanquan(School of Mechanical&Automotive Engineering,South China University of Technology,Guangzhou 510640,China;Shenzhen Institute of Geriatrics,Shenzhen 518035,China)
出处
《机械与电子》
2018年第4期66-70,80,共6页
Machinery & Electronics
基金
中国博士后科学基金面上资助项目(2017M612654)
广东省公益研究能力建设专项资金项目(2016A020220001)
深圳市留学归国创业启动项目(2016001)
深圳市科技研发资金基础研究项目(JCYJ20170306170851910
JCYJ20160428110354308)
关键词
踝关节
康复机器人
动力学
联合仿真
ankle joint
rehabilitation robot
dynamics
joint simulation
