摘要
针对上肢的结构和运动性分析,提出一种具有九自由度的上肢康复机构,对该机构的特点进行简单介绍,利用修正后的Kutzbach-Grüble公式,对康复机构进行了自由度的求解计算,采用解析法对该机构进行了位置分析,利用串联机构的特性和球面解析理论求解该机构的位置正解,通过探讨机构的过渡层来求解机构的位置反解,得出机构位置反解的求解条件。通过运动仿真,验证了该康复机构运行的稳定性和可行性。针对不同部分的并联机构采用了不同的求解方法,为其他同类型的多层并串结构分析提供了参考。
In view of the upper structure and dynamic analysis,this paper puts forward a kind of 9 degrees of freedom of upper limb rehabilitation mechanism,briefly introduces the characteristics of this mechanism,uses the revised formula Gruble Kutzbach to calculate its degrees of freedom,analyzes its positioning by the analytic method and uses the characteristics of the serial mechanism and the spherical analytic theory to solve position of the positive solution,then,uses the transition layer of the mechanism to solve the location of the inverse solution,thus obtaining solution condition of the mechanism position inverse solution.And then,the running stability and feasibility of the rehabilitation mechanism are verified by the motion simulation.Different methods are used to solve the parallel mechanism of different parts.The reference is given to the analysis of other parallel structures of the same type.
作者
梁辉
张广兴
王术徽
孔祥旭
王辉
汪传生
LIANG Hui;ZHANG Guangxing;WANG Shuhui;KONG Xiangxu;WANG Hui;WANG Chuansheng(College of Mechanical and Electrical Engineering,Qingdao University of Science and Technology,Qingdao 266061,China;Shandong Key Laboratory of Advanced Polymer Material Manufacturing Technology,Qingdao University of Science and Technology,Qingdao 266061,China)
出处
《机械制造与自动化》
2020年第6期39-43,共5页
Machine Building & Automation
基金
山东省重点研发计划项目(2018GNC112007)
山东省自然科学基金项目(ZR2016XJ003)。
关键词
康复机构
球面并联机构
自由度计算
位置分析
rehabilitation mechanism
spherical parallel mechanism
degree of freedom calculation
location analysis
