光学精密工程2025，Vol.33Issue(6)：884-894,11.DOI:10.37188/OPE.20253306.0884
2UU-PSU上肢康复机构运动学与动力学研究
Kinematics and dynamics of 2UU-PSU upper limb rehabilitation mechanism
摘要
Abstract
With the development of rehabilitation medical technology and improving the accuracy of upper limb rehabilitation effect,the research on efficient and accurate upper limb parallel rehabilitation institu-tions is becoming increasingly critical.In this paper,a new parallel rehabilitation mechanism for upper limbs was proposed and its kinematics and dynamics are analyzed.The 2UU-PSU Dof was investigated,the closed-loop vector method was used to solve the pose and derive the kinematics equation,and the ratio-nality of the mechanism motion was verified.Based on the Lagrange method,dynamic equation was estab-lished for dynamic analysis.To verify the correctness of the kinematic derivation,the experimental plat-form of 2UU-PSU was built,and experiments were carried out based on NOKOV dynamic trapping equip-ment.Finally,the adaptive fuzzy PID control is established,and the 2UU-PSU mechanism is co-simulat-ed by ADAMS and MATLAB Simulink.The experimental results show that:in the experiment of the 2UU-PSU mechanism based on the NOKOV dynamic trapping equipment,the max REMS of the pose measurement of the moving platform is 6.89%,1.81%and 9.73%,respectively.The max REMS of the three branched-chain dynamics between the simulation results and the theoretical data is 2.50%,2.40%and 2.96%,respectively.From the theoretical and simulation analysis and experimental verification re-sults,the root mean square error of kinematics and dynamics of the 2UU-PSU mechanism is at a low lev-el,indicating that the mechanism has rationality and reliability in terms of kinematics and dynamics,and can provide an effective basis for the design and research of related rehabilitation institutions.It also pro-vides a valuable reference for other dynamic research on parallel rehabilitation institutions with less Dof.关键词
2UU-PSU/并联机构/位置反解/拉格朗日法/动力学Key words
2UU-PSU/parallel mechanism/reverse position solution/lagrange method/dynamics分类
计算机与自动化引用本文复制引用
崔冰艳,李文静,安福新,尚林,吴位贏,杜义仑,桂小庚..2UU-PSU上肢康复机构运动学与动力学研究[J].光学精密工程,2025,33(6):884-894,11.基金项目
河北省高等学校科学技术研究重点项目(No.ZD2020151) （No.ZD2020151）
河北省研究生课程改革项目(No.YKC-SZ2022068) （No.YKC-SZ2022068）
唐山市机器人机构学理论基础创新团队(No.21130208D) （No.21130208D）
唐山市基础研究项目(No.23130201E) （No.23130201E）
华北理工大学重点科研项目(No.ZD-YG-202306-23) （No.ZD-YG-202306-23）
河北省创新创业教育教学改革研究与实践项目(No.2023cxcy095) （No.2023cxcy095）
华北理工大学专业学位综合改革项目(No.ZD18010223-03) （No.ZD18010223-03）
华北理工大学研究生创新项目(No.2025S10) （No.2025S10）
