机器人2024，Vol.46Issue(4)：503-512,10.DOI:10.13973/j.cnki.robot.240050
绳驱动踝关节康复机器人的运动学与刚度研究
Study on Kinematics and Stiffness of a Cable-driven Ankle Rehabilitation Robot
摘要
Abstract
Since the existing ankle rehabilitation robots are of poor human-machine structure matching,inferior com-pliance and weak adaptability,a novel cable-driven variable-stiffness ankle rehabilitation robot is proposed.Considering variable stiffness of the cable-driven robots due to unidirectional force transmission of the cable,a variable-stiffness device with simple,compact structure and high stiffness-tension linearity is designed based on flexible parallel mechanism theory,to improve the range and accuracy of variable-stiffness control.By modeling and analyzing the kinetictostatics and stiff-ness of the rehabilitation robot,it is found that the robot pose can be adjusted by regulating the cable lengths,and the robot stiffness can be adjusted by regulating the cable tensions.In order to achieve stiffness control,a stiffness-oriented cable ten-sion distribution algorithm is proposed,and its effectiveness is verified by a simulation example.Finally,the control system and prototype of the cable-driven ankle rehabilitation robot are developed,and the motion control method is validated by an experiment.The results show that the proposed cable-driven ankle rehabilitation robot has the advantages of excellent human-machine structure matching and variable stiffness.关键词
踝关节康复/绳驱动机器人/变刚度装置/刚度建模/绳索张力分配Key words
ankle rehabilitation/cable-driven robot/variable-stiffness device/stiffness modeling/cable tension distribution引用本文复制引用
杨凯盛,胡俊豪,韩陈洁,崔玉国,王冲冲,杨桂林..绳驱动踝关节康复机器人的运动学与刚度研究[J].机器人,2024,46(4):503-512,10.基金项目
浙江省基础公益研究计划(LGF22E050003) （LGF22E050003）
宁波市公益性科技计划重点项目(2022S130). （2022S130）
