面向踝部康复的广义球面并联机构型综合

doi:10.3901/JME.2020.19.079

机械工程学报 ›› 2020, Vol. 56 ›› Issue (19): 79-91.doi: 10.3901/JME.2020.19.079

• 特邀专栏：纪念张启先院士诞辰95周年 • 上一篇下一篇

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面向踝部康复的广义球面并联机构型综合

刘承磊, 张建军, 戚开诚, 牛建业, 李为民, 郭士杰

1. 河北工业大学机械工程学院天津 300130;
2. 河北省机器人感知与人机融合重点实验室天津 300130

收稿日期:2019-12-26 修回日期:2020-05-21 出版日期:2020-10-05 发布日期:2020-11-17
通讯作者: 张建军(通信作者),男,1971年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学、并联机器人、外骨骼机器人。E-mail:zhjjun@hebut.edu.cn
作者简介:刘承磊,男,1995年出生,博士研究生。主要研究方向为并联机器人。E-mail:15620196305@163.com
基金资助:
国家重点研发计划（2016YFE0128700）、天津市自然科学重点基金（17JCZDJC40200）、河北省省级科技计划（E2020103001）和河北省教育厅科学研究计划重点项目（ZD2019052）资助项目。

Synthesis of Generalized Spherical Parallel Manipulations for Ankle Rehabilitation

LIU Chenglei, ZHANG Jianjun, QI Kaicheng, NIU Jianye, LI Weimin, GUO Shijie

1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130;
2. Key Laboratory of Robot Perception and Human-Machine Fusion of Hebei Province, Tianjin 300130

Received:2019-12-26 Revised:2020-05-21 Online:2020-10-05 Published:2020-11-17

摘要/Abstract

摘要： 针对现有踝关节康复机器人难以充分拟合踝关节复杂运动，人机相容性较差的问题，提出一系列与踝关节实际骨结构匹配程度更高的串联等效拟合模型。为满足踝关节串联等效拟合模型对康复机器人机构本体的功能需求，给出一种具有串联等效拟合模型的广义球面并联机构型综合方法。首先枚举出广义球面机构的基本构件及运动副，并依此构造出广义球面支链。继而基于螺旋理论分析单支链以及多支链组合对动平台的约束性能，给出支链的组合条件与原则，阐明不同支链在机构中作用的异同，并依此归纳出位置支链和姿态支链两类广义球面基本支链。最后基于基本支链的约束特性，根据支链组合条件，综合出一系列适用于踝关节康复机器人本体研究的广义球面并联机构，并通过螺旋理论证明其与踝关节串联等效拟合模型的自由度数及性质具有一致性，为此类康复机器人本体设计提供理论依据。

关键词: 踝关节康复, 并联机构, 广义球面机构, 型综合

Abstract: In view of the poor human-machine compatibility of existing ankle rehabilitation robots, which makes it difficult to fully fit the complex motion of the ankle joint, a series of series equivalent fitting models with a higher degree of matching with the actual bone structure of the ankle joint are proposed. In order to meet the functional requirements of this type of equivalent fitting model on the mechanism ontology of rehabilitation robot, a configuration synthesis method of generalized spherical parallel mechanism with series equivalent fitting model is presented. First, the basic components and kinematic pairs of the generalized spherical mechanism are enumerated, and the generalized spherical limb is constructed accordingly. Then, based on the spiral theory, the constraint performance of the single limb and limb combination on the moving platform is analyzed. The combination conditions and principles of limbs are given, the role of different limbs in the mechanism is clarified, and two types of general spherical basic limbs, position limb and orientation limb, are summarized accordingly. Finally, based on the constraint characteristics of the basic limb and the combination conditions, a series of generalized spherical parallel mechanisms suitable for the study of the ankle rehabilitation robot ontology are synthesized. The screw theory proves that the number and nature of degrees of freedom of these of mechanism and the equivalent fitting model of the ankle are consistent, which provides a theoretical basis for the design of such rehabilitation robots.

Key words: ankle rehabilitation robot, parallel mechanism, generalized spherical surface mechanism, type synthesis method

中图分类号:

TH112

刘承磊, 张建军, 戚开诚, 牛建业, 李为民, 郭士杰. 面向踝部康复的广义球面并联机构型综合[J]. 机械工程学报, 2020, 56(19): 79-91.

LIU Chenglei, ZHANG Jianjun, QI Kaicheng, NIU Jianye, LI Weimin, GUO Shijie. Synthesis of Generalized Spherical Parallel Manipulations for Ankle Rehabilitation[J]. Journal of Mechanical Engineering, 2020, 56(19): 79-91.

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面向踝部康复的广义球面并联机构型综合

Synthesis of Generalized Spherical Parallel Manipulations for Ankle Rehabilitation

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