基于伪刚体模型的腰部训练装置的运动学分析

考虑到康复运动过程中康复患者对康复机器人的作用，康复机器人的设计过程中将康复患者的康复部位作为其一部分进行设计和分析。将腰部考虑成柔性杆，并将其作为气动人工肌肉驱动的腰部训练装置的一部分进行分析。对腰部训练装置进行了结构介绍并分析了腰部在腰部训练装置中的作用，给出了腰部训练装置的运动学模型。对腰部训练装置进行了受力分析，结合腰部训练装置的功能对气动人工肌肉组件进行了设计和受力分析，使用伪刚体模型对腰部进行受力分析，得到了腰部脊柱与康复腰带结合点的受力结果，基于此对腰部训练装置整体进行受力分析，得到腰部训练装置中康复腰带与气动人工肌肉组件之间受力的关系。通过仿真验证了运动学分析和受力分析结果的正确性，并根据腰部训练装置的力学分析及仿真结果，进一步设计并搭建气动人工肌肉和柔索混合驱动并联腰部康复机器人试验平台。

Kinematic Analysis of the Waist Rehabilitation Robot Based on Pseudo-rigid-body Model

Considering the effects of rehabilitation patients on rehabilitation robots during the rehabilitation exercise, the rehabilitation parts of patients are considered when designing and analyzing the rehabilitation robots. The waist is considered as a flexible rod and analyzed as a part of the waist training device driven by pneumatic artificial muscles. The structure of the waist training device is introduced and the function of the waist in the waist training device is analyzed. The kinematics model of the waist training device is given. The force analysis of the waist training device is carried out. The force analysis of the pneumatic artificial muscle component is conducted with the function of the waist training device. And the force analysis of the waist is carried out using the pseudo rigid body model. The stress of the combined point between the waist belt and the waist is calculated. Based on this, the waist training device is integrated into the whole. Through force analysis, the relationship between the rehabilitation belt and the pneumatic artificial muscle component in the waist training device is obtained. The correctness of kinematics analysis and force analysis results are verified by simulation. A physical prototype of the hybrid-driven parallel waist rehabilitation robot is further designed and constructed based on the kinematic analysis and simulation results.