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绳驱动踝关节康复机器人的运动学与刚度研究OA北大核心CSTPCD

Study on Kinematics and Stiffness of a Cable-driven Ankle Rehabilitation Robot

中文摘要英文摘要

针对现有踝关节康复机器人存在的人机结构匹配度不高、柔顺性不足、适应性弱等问题,提出了一种新型绳驱动变刚度踝关节康复机器人.考虑到绳索的单向受力特性使得绳驱动机器人具有变刚度特性,基于柔性并联机构理论创新设计了一种结构简单紧凑、刚度-拉力线性度高的变刚度装置,以提高变刚度控制的范围和精度.通过康复机器人的运动静力学和刚度建模分析,揭示了调节绳索长度来调控机器人位姿,以及调节绳索张力来调控机器人刚度的规律.在此基础上,提出了面向刚度的绳索张力分配算法以实现刚度控制,并通过仿真案例验证了算法的可行性.最后,设计了绳驱动踝关节康复机器人的控制系统,研制了机器人样机,通过实验验证了机器人运动控制方法.研究结果表明所设计的绳驱动踝关节康复机器人具有人机结构匹配、刚度可调等优点.

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.

杨凯盛;胡俊豪;韩陈洁;崔玉国;王冲冲;杨桂林

宁波大学浙江省零件轧制成形技术研究重点实验室,浙江宁波 315211||上海交通大学自动化系,上海 200240宁波大学浙江省零件轧制成形技术研究重点实验室,浙江宁波 315211遨博(北京)智能科技股份有限公司,北京 100195中国科学院宁波材料技术与工程研究所浙江省机器人与智能制造装备技术重点实验室,浙江宁波 315201

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

ankle rehabilitationcable-driven robotvariable-stiffness devicestiffness modelingcable tension distribution

《机器人》 2024 (004)

503-512 / 10

浙江省基础公益研究计划(LGF22E050003);宁波市公益性科技计划重点项目(2022S130).

10.13973/j.cnki.robot.240050

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