仿人关节并串结构位姿求解算法研究

Algorithm for Solving Pose of Parallel Structure of Humanoid Joint

针对用于脑卒中患者上肢的康复训练,针对肩关节和肘关节运动的特点,课题组提出了一种6自由度仿人关节并串机构。该结构是由2种不同位姿并联机构进行并串组合而成,课题组利用Kutzbach-Grüble公式对其进行了自由度的求解;采用解析法对该机构进行位姿分析研究,运用了球面三角形余弦定理来分析机构运动中弧形杆弧长不确定的情况;采用分部求解法把整体问题拆分成2个互有关联的部分进行求解。结果表明:与传统的对整体结构直接求解的方法相比,课题组采用的求解算法大大减小了求解的计算量。文中研究的方法适用于同类型位姿分离的并串组合,对其他同类型结构的位姿分析具有参考意义。

In order to train the upper limbs of stroke patients,according to the characteristics of shoulder and elbow joint movement,a six degrees of freedom humanoid joint parallel mechanism was proposed. Structure of the parallel mechanism was composed of two different position,and string composition could be used for cerebral apoplexy patients with upper limb rehabilitation training. Degrees of freedom were solved by using Gruble Kutzbach formula. Discussde the position of the mechanism by using analytic method. Analysised the mechanism motion arc rod arc length in uncertain circumstances by using spherical triangle cosine theorem. Adopted the division method divided the overall problem into two parts of the two linked to each other. This method is applicable to other parallel combination of the same type of pose separation. Compared with the traditional method of solving the whole structure directly,it greatly simplifies the calculation and provides a reference value for the pose analysis of other structures of the same type.