一种混合输入并联康复机器人的设计与分析

Mechanism design and analysis of a hybrid-input upper limb rehabilitation robot

针对缺少适于社区与家庭使用的康复机器人的现状,文章基于混合驱动系统研制了一款运动轨迹、幅度均可调的个性化上肢康复机器人。首先介绍了该机器人的机构及功能,包括机器人的技术参数、常速驱动装置、水平驱动机构及角度控制机构;在此基础上建立了人/机一体化模型,并对该机器人进行了运动学及动力学分析,从理论上证明了设计方案的可行性;最后进行了样机功能性试验。试验结果表明,该机器人可使受试者实现肘关节活动范围为3.5°~136.7°、肩关节活动范围为-18.3°~56.6°的上肢运动。

For the lack of rehabilitation robots suitable for community and family use,this paper develops a kind of personalized rehabilitation robot for upper limbs with adjustable motion trajectory and range based on hybrid drive system.The mechanism and function of the robot are introduced in detail,including its technical parameters,constant speed drive device,horizontal drive mechanism and angle control mechanism.The man-machine integration model is established,and the kinematics analysis and dynamics analysis of the robot are carried out.The feasibility of the design scheme is proved theoretically.The prototype test results show that the robot make the subject perform upper limb motion with the elbow joint ranging from 3.5°to 136.7°and the shoulder joint ranging from-18.3°to 56.6°.