基于闭环矢量法的骨盆位姿机构运动学分析

助行训练机器人是一种帮助偏瘫、截瘫患者进行行走训练的康复设备，其作用是通过对人体骨盆中心和腿部的控制实现行走功能，进而达到锻炼肌肉和康复行走功能的目的。该文提出了四自由度骨盆位姿控制机构，运用闭环矢量法建立了位姿控制机构的运动学模型，利用Matlab／Simulink完成了运动学仿真分析，得到了该机构的加速度、速度和位姿变化曲线，验证了该骨盆位姿机构方案的可行性以及运动学模型的正确性。该研究为助行训练机器人的控制系统设计提供了依据。

Kinematics Analysis of Pelvis Position Mechanism Based on Closedloop Vector Method

Walking aided training robot is a kind of rehabilitation equipment to help paralysis, paraplegic patients walking training. It＇s role is to implement walking function by control human pelvis center and legs＇ motion, and thus achieve training muscles and rehabilitation walk. A four-degree of freedom pelvis position control mechanism was put forward. Kinematical model of the mechanism was established based on closed-loop vector method. By using Matlab/ Simulink completed kinematics simulation analysis, and acquired the acceleration, speed and position changing curves of the mechanism. Thus the project of pelvis position mechanism is feasible, and correctness of kinematics equations is verified. This study provides a theory basis for designing the walking training robot control system.