并联3-URS踝关节康复机器人的机构与运动学研究

为了帮助患者进行踝关节康复训练,减轻治疗师工作强度,在分类分析现有的各类型踝关节康复机器人的基础上,设计了一种六自由度并联3-URS踝关节康复机器人。从人体生理结构及康复训练需求出发,设计、优化了康复机器人结构,加工制造了实物样机模型;采用闭环矢量的方法建立了并联机器人运动学模型,结合Rosenbrock-Banana优化函数,将正逆运动学数值求解问题转换为优化问题。以背屈训练轨迹作为数值算例,求解精度可达10-10~10-7mm;结合虚拟样机技术,验证了该并联机器人运动学优化求解方法的可靠性,适用于3-URS并联踝关节康复机器人。

Mechanism and Kinematics Study of Parallel 3-URS Ankle Rehabilitation Robot

In order to help patients with ankle rehabilitation training and reduce the work intensity of the therapist,a6-DOF parallel 3-URS ankle rehabilitation robot was designed based on the classification and analysis of various types of ankle rehabilitation robots. Based on the physiological structure of the human body and the needs of rehabilitation training,the structure of the rehabilitation robot was designed and optimized,and the physical prototype model was processed. The kinematics model of the parallel robot is established by the closed-loop vector method.The kinematics model of the parallel robot is established by the closed-loop vector method. Combined with the Rosenbrock-Banana optimization function,the numerical solution of the forward and inverse kinematics is transformed into an optimization problem. Taking the dorsiflexion training trajectory as a numerical example,the solution accuracy is up to 10-10~10-7 mm,combined with the virtual prototype,the reliability of the kinematics optimization method of the parallel robot is verified,which is suitable for 3-URS parallel ankle rehabilitation robot.