摘要
踝关节是人体下肢关节中较易损伤的部位,针对其结构特点,搭建了基于3-SPS/S的并联康复机构并对其进行运动学反解.进而以3-SPS/S踝关节并联康复机构为研究对象,利用Matlab里的Sim Mechanics工具箱建立机构仿真平台,给出动平台规划运动轨迹并生成机构驱动杆输入运动信号,对机构模型进行仿真分析并给出3D效果图.结果表明,该方法为并联康复机构控制策略的研究提供了安全高效可视的仿真平台,便于展开针对并联康复机构特点的各种控制策略的研究.
The ankle is one of vulnerable parts of the low limb joints of the human body.Based on its structural characteristics,a 3-SPS/S parallel manipulator for ankle rehabilitation is built,and the inverse kinematics is solved by its dimensional characteristics.Then,the simulation platform of 3-SPS/S parallel manipulator for ankle rehabilitation is established by SimMechanics toolbox in Matlab software.A target trajectory is provided to produce input signals of actuating arms.Afterwards,the dynamics of parallel rehabilitation manipulator model are analyzed,and 3D rendering is generated.The experimental results show that it can provide the efficient and visual simulation platform to study the control strategy of parallel rehabilitation manipulator.
作者
王海芳
李新庆
乔湘洋
祁超飞
WANG Hai-fang;LI Xin-qing;QIAO Xiang-yang;QI Chao-fei(School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,China)
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2019年第3期310-314,333,共6页
Journal of Northeastern University(Natural Science)
基金
国家自然科学基金资助项目(51475086)
秦皇岛市科技支撑项目(201501B011)
