基于3-U<u>P</u>S/RRR的并联踝关节康复机构及其性能分析

李剑锋; 徐成辉; 陶春静; 季润; 李世才; 张兆晶

doi:10.16383/j.aas.2016.c160144

基于3-UPS/RRR的并联踝关节康复机构及其性能分析

doi: 10.16383/j.aas.2016.c160144

李剑锋^1,2,
徐成辉^1,2,,
陶春静^3,,
季润^3,,
李世才^1,2,,
张兆晶^1,2,

1.
北京工业大学机械工程与应用电子技术学院北京 100124
2.
北京工业大学北京市先进制造技术重点实验室北京 100124
3.
国家康复辅具研究中心北京 100176

基金项目:

北京市自然科学基金 3132005

北京市自然科学基金 3113026

国家自然科学基金 61273342

详细信息

作者简介:
徐成辉北京工业大学机械工程与应用电子技术学院硕士研究生.2013年获得武汉纺织大学机械工程与自动化学院学士学位.主要研究方向为穿戴外骨骼技术.E-mail:xchde628@163.com

陶春静国家康复辅具研究中心副教授.2007年获中国科学院电气工程研究所博士学位.主要研究方向为康复设备设计与穿戴外骨骼技术.E-mail:taochj@gmail.com

季润国家康复辅具研究中心工程师.2008年获首都医科大学学士学位.主要研究方向为康复设备设计与穿戴外骨骼技术.E-mail:jirun@gmail.com

李世才北京工业大学机械工程与应用电子技术学院硕士研究生.2014年获得哈尔滨理工大学机电学院学士学位.主要研究方向为穿戴外骨骼技术.E-mail:lishicaijiayou@163.com

张兆晶北京工业大学机械工程与应用电子技术学院硕士.2014年获北京工业大学大学机械工程与应用电子技术学院学士学位.主要研究方向为穿戴外骨骼技术.E-mail:jmzzj050@sina.com

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出版历程
- 收稿日期: 2016-02-04
- 录用日期: 2016-09-30
- 刊出日期: 2016-12-01

A Parallel Ankle Rehabilitation Mechanism and Its Performance AnalysisBased on 3-UPS/RRR

LI Jian-Feng^1,2,
XU Cheng-Hui^{1,2
,},
TAO Chun-Jing^3
,,
JI Run^3
,,
LI Shi-Cai^{1,2
,},
ZHANG Zhao-Jing^{1,2
,}

1.
The College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124
2.
Advanced Manufacturing Technology of the Key Laboratory of Beijing Municipality, Beijing University of Technology, Beijing 100124
3.
National Research Center for Rehabilitation Technical Aids, Beijing 100176

Funds:

Natural Science Foundation of Beijing 3132005

Natural Science Foundation of Beijing 3113026

National Natural Science Foundation of China 61273342

More Information

Author Bio:
Master student at the College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology. He received his bachelor degree from Mechanical Engineering and Automation, Wuhan Textile University in 2013. His main research interest is wearable exoskeleton technology

Associate professor at the National Research Center for Rehabilitation Technical Aids. She received her Ph. D. degree from Institute of Electrical Engineering, Chinese Academy of Sciences in 2007. Her research interest covers rehabilitation equipment design and wearable exoskeleton technology

Engineer at the National Research Center for Rehabilitation Technical Aids. He received his bachelor degree from Capital Medical University in 2008. His research interest covers rehabilitation equipment design and wearable exoskeleton technology

Master student at the College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology. He received his bachelor degree from Mechanical and Electrical Engineering, Harbin University of Science and Technology in 2014. His main research interest is wearable exoskeleton technology

Master student at the College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology. He received his bachelor degree from College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology in 2014. His main research interest is wearable exoskeleton technology

摘要

摘要: 基于踝关节的生理解剖结构和运动特性分析，提出了一种适用于踝关节康复的3自由度3-UPS/RRR并联机构.该机构采用三个主动支链倾斜布置避开了机构的奇异位形，能满足踝关节康复运动需要，同时约束支链和动平台的设计使机构的转动中心与患者的踝关节转动中心重合.应用解析法得到了机构的位置反解，建立了速度雅可比矩阵和静力雅可比矩阵，求解了机构的工作空间.基于雅可比矩阵，仿真分析了机构的运动学性能和静力学性能.结果表明在规定的工作空间内机构具有良好的可操作性、运动灵活性、刚度特性和力矩传递性能.最后运用牛顿-欧拉法建立了机构的逆动力学方程，得到了驱动力、约束力与运动参数的关系，并给出了仿真实例.
- 踝关节康复 /
- 并联机构 /
- 约束支链 /
- 力矩传递性能 /
- 牛顿-欧拉法
Abstract: Based on the physiological anatomical structure and movement characteristics analysis of human ankle joint, a 3 degree of freedom (DoF) 3-UPS/RRR ankle rehabilitation parallel mechanism is presented. Its three active branched chain inclination arrangement avoids the singular configuration of the mechanism and meets the required ankle rehabilitation workspaces. By means of constraint branches and the moving platform, the mechanism center of rotations matches the patient's ankle center of rotations. Inverse kinematics is solved analytically velocity Jacobian matrix and statics Jacobian matrix are established, and mechanism workspace is coped with. Moreover, in view of Jacobian matrix, kinematics performance and statics performance of the mechanism are analyzed and simulated. The result shows that the mechanism is of favorable operability, flexibility, and stiffness characteristics, and its torque transmission is within the specified workspace. Lastly, inverse dynamics equations of the mechanism are modeled by Newton-Euler formulation; the relationship among driving forces, constraint forces and motion parameters are obtained. A computational example is provided.
- Ankle rehabilitation /
- parallel mechanism /
- constrained branched chain /
- torque transmission performance /
- Newton-Euler
注释:

1) 本文责任编委王卫群

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图 1 踝关节运动模式及其运动范围

Fig. 1 Ankle movement patterns and their ranges of movement

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图 2 脚踝运动

Fig. 2 Ankle joint movement

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图 3 并联踝关节康复机构模型

Fig. 3 The model of parallel mechanism for ankle rehabilitation

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图 4 动平台在定平台上投影图

Fig. 4 The projection of moving platform on the fixed platform

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图 5 动平台机构模型

Fig. 5 The moving platform mechanism mode

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图 6 3-UPS/RRR并联机构简图

Fig. 6 The sketch of 3-UPS/RRR parallel mechanism

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图 7 支链坐标简图

Fig. 7 Diagram of the branched coordinate

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图 8 并联机构工作空间

Fig. 8 The working space of parallel mechanism

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图 9 γ=-20°时机构的可操作度

Fig. 9 The mechanism's operation at γ=-20°

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图 10 γ=0°时机构的可操作度

Fig. 10 The mechanism's operation at γ=0°

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图 11 γ=20°时机构的可操作度

Fig. 11 The mechanism's operation at γ=20°

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图 12 γ=-20°时机构的条件数倒数

Fig. 12 The mechanism's condition number reciprocal at γ=-20°

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图 13 γ=0°时机构的条件数倒数

Fig. 13 The mechanism's condition number reciprocal at γ=0°

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图 14 γ=20°时机构的条件数倒数

Fig. 14 The mechanism's condition number reciprocal at γ=20°

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图 15 γ=-20°时机构的刚度性能

Fig. 15 The mechanism's stiffness performance at γ=-20°

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图 16 γ=0°时机构的刚度性能

Fig. 16 The mechanism's stiffness performance at γ=0°

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图 17 γ=20°时机构的刚度性能

Fig. 17 The mechanism's stiffness performance at γ=20°

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图 18 γ=-20°时机构的力矩传递性能

Fig. 18 The mechanism's torque transmission performance at γ=-20°

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图 19 γ=0°时机构的力矩传递性能

Fig. 19 The mechanism's torque transmission performance at γ=0°

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图 20 γ=20°时机构的力矩传递性能

Fig. 20 The mechanism's torque transmission performance at γ=20°

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图 21 三个UPS支链的驱动力

Fig. 21 The driving forces of three UPS branches

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图 22 约束支链的约束力

Fig. 22 The constraint force of constraint branches

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表 1 机构的结构参数

Table 1 The architectural parameters of the mechanism

参数	参数值
d	d=0.2 m
L₃	L₃=0.35 m
A₁	rTA₁=(-d sin (π/15), d cos (π/15), -0.05)^T
A₂	rT A ₂=(-d cos (7π/30), -d sin (7π/30), -0.05)^T
A₃	rT A ₃=(d sin (2π/5), -d cos (2π/5), -0.05)^T
B₁	r_{T B ₁}=(${\sqrt 3 d/2}$, d/2, -L₃)^T
B₂	r_{T B ₂}=(${-\sqrt 3 d/2}$, d/2, -L₃)^T
B₃	r_{T B ₃}=(0, -d, -L₃)^T

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表 2 康复机构的运动范围

Table 2 The movement range of rehabilitation mechanism

运动类型	运动旋转角度极值(°)
背伸	65
跖屈	80
内翻	75
外翻	80
内收	45
外展	70

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