一种串并混联的上肢康复机器人轨迹规划研究

Research on the Trajectory Planning of a Series-Parallel Upper Limb Rehabilitation Robot

随着我国脑卒中患者数量不断增加,机器人技术在脑卒中患者康复训练中将被大面积运用,而康复机器人的轨迹规划能力将直接影响其使用性能和实践应用,针对此问题,以一种串并混联上肢康复机器人为研究对象,使用向量法对该康复机器人进行了逆运动学分析,提出了一种基于五次B样条曲线的规划算法对该康复机器人进行了轨迹规划,使用Matlab仿真了复杂三维康复运动曲线,并在自主研发的上肢康复机器人实验平台上进行了多种类型康复轨迹实验,实现了新型串并混联上肢康复机器人康复轨迹的个性化。结果表明,根据治疗师输入的康复点位序列,可以快速生成光滑、平顺的康复轨迹,并且在实验平台上准确执行,验证了轨迹规划算法的正确性、可行性。

As the number of stroke patients increases in China,robotics will be widely used in the rehabilitation training of stroke patients,and the trajectory planning capability of rehabilitation robots will directly affect its performance and practical applications. In view of this problem,it takes a serial-parallel upper limb rehabilitation robot as the research object. The inverse kinematics analysis of the rehabilitation robot was performed by means of the vector method. A five Degrees B-spline planning algorithm was proposed to perform trajectory planning on the rehabilitation robot.Via Matlab,a complex three-dimensional rehabilitation movement curve was simulated,and various types of rehabilitation trajectory experiments were performed on an independently developed upper limb rehabilitation robot experimental platform,which realized the individualization of rehabilitation trajectories on a new series of parallel-parallel upper limb rehabilitation robot.The results show that,according to the rehabilitation point sequence input by the therapist,a smooth rehabilitation trajectory can be quickly generated and executed accurately on the experimental platform,which verifies the correctness and feasibility of the trajectory planning algorithm.