摘要
在步态康复训练期间,偏瘫或中风患者容易发生肌肉痉挛,从而导致不能支撑自身而失去平衡,造成二次伤害。针对上述问题,设计了一种由8根绳索驱动的6自由度并联康复机器人,不仅能对患者进行步态训练,还能对患者实施有效的防跌倒保护。首先,对机器人构型进行描述,并利用封闭矢量四边形法建立其运动学模型;其次,结合绳索驱动的特性,依据静力学分析,提出一种机器人力控工作空间的概念及其求解方法。为了避免患者失去平衡后受到二次伤害,基于力控工作空间,进一步提出了一种空间轨迹安全墙,对患者可能会出现的待保护位形进行了分类,并分别研究了其回归安全墙内的空间轨迹路径规划方法。最后,选取了两类不同的待保护位形,研究其沿回归轨迹运动时绳索长度和绳索拉力的变化情况,验证了回归安全墙轨迹规划方法的有效性和合理性。
During gait rehabilitation training,patients with hemiplegia or stroke are prone to muscle cramps,which can cause them to lose their balance due to their inability to support their weight and cause secondary injuries.In response to the above problems,a six-degree-of-freedom parallel rehabilitation robot driven by eight cables is designed,which can not only perform gait training on patients but also implement effective anti-fall protection for patients.Firstly,the configuration of the robot is described,and its kinematics model is established by using the closed vector quadrilateral method.Secondly,combined with the characteristics of cabledriven,a concept of a robot force control workspace and its solution method are proposed based on the statics analysis.In order to avoid secondary injuries to patients after losing their balance,a space trajectory safety wall is further proposed based on the force-controlled working space,which classified the possible shapes to be protected for patients and studied the space trajectory path planning method for their return to the safety wall.Finally,two different types of to-be-protected profiles are selected to study the changes in cable length and tension as they moved along the regression trajectory which verified the effectiveness and rationality of the trajectory planning method for the return safety wall.
作者
李想
李伟达
李娟
张虹淼
顾洪
Li Xiang;Li Weida;Li Juan;Zhang Hongmiao;Gu Hong(School of Mechanical and Electrical Engineering,Jiangsu Provincial Key Laboratory of Advanced Robotics,Soochow University,Suzhou 215021,China)
出处
《机械传动》
北大核心
2021年第2期16-22,32,共8页
Journal of Mechanical Transmission
基金
国家重点研发计划(2018YFC2001304)。
关键词
绳驱动
并联机器人
力控工作空间
空间安全墙
Cable-driven
Parallel robot
Force control workspace
Space safety wall
