哈尔滨工程大学学报2024，Vol.45Issue(6)：1135-1143,9.DOI:10.11990/jheu.202212013
绳索驱动下肢训练机器人系统运动稳定性分析
Analysis of the dynamical stability of a rope-driven lower limb training robot system
摘要
Abstract
The stability problem of a rope-driven lower limb training robot(RDLTR)was studied.The kinematics and dynamics model of the designed RDLTR was established,deriving a computational expression of the optimized solution of the rope tension and an analytical expression of the system stiffness of RDLTR.A velocity influence function was defined because training objects differ in their ability to bear the motion intensity.The evaluation in-dex of the dynamical stability of the RDLTR system was defined by combining the rope tension,system stiffness,and velocity influence function and clarified through the example calculation of a stable workspace,a robust stable workspace,and different training trajectories.Results revealed an improved dynamical stability performance of RDLTR in the upper and middle regions in the workspace,providing a theoretical basis for the motion planning of the pulleys in the motion branch chain and training task planning.关键词
绳索驱动机器人/下肢训练机器人/绳索拉力优化/系统刚度/运动稳定性/运动学/动力学/速度影响函数/稳定工作空间Key words
rope-driven robot/lower limb training robot/rope tension optimization/system stiffness/dynamical sta-bility/kinematics/dynamics/velocity influence function/stable workspace分类
信息技术与安全科学引用本文复制引用
王砚麟,安宗文,黄华,马强,王克义,李竞航,王燕卓..绳索驱动下肢训练机器人系统运动稳定性分析[J].哈尔滨工程大学学报,2024,45(6):1135-1143,9.基金项目
国家自然科学基金项目(52175006) （52175006）
甘肃省高等学校产业支撑引导项目(2020C-12) （2020C-12）
甘肃省自然科学基金项目(22JR5RA229). （22JR5RA229）
