2URR-SRR-RUPUR并联式腿部康复机器人机构设计与运动性能分析

基于腿部关节康复机理,提出了一种2URR-SRR-RUPUR 4自由度并联式腿部康复机器人,该机构能够实现踝关节的外展和内收运动、膝关节的屈伸运动、髋关节的内旋和外旋运动以及腿部的牵伸运动。基于螺旋理论分析了该机构在一般位型和初始位型下的约束螺旋系和自由度性质。建立了2URR-SRR-RUPUR并联机构的运动学模型,采用闭环矢量法求解机构的运动学逆解并分析了机构的速度雅可比矩阵,在此基础上,对机构的工作空间和奇异性进行研究,得到了机构的工作空间图和奇异位型。基于腿部关节康复运动路径对机构进行轨迹规划,将规划结果采用SolidWorks Motion软件进行运动仿真分析,仿真结果表明,机构运动连续平滑,适合腿部康复运动训练,具备良好的应用潜力。

Design and Motion Performance Analysis of 2URR-SRR-RUPUR Parallel Leg Rehabilitation Robot Mechanism

Based on the mechanism of leg joint rehabilitation,a 2URR-SRR-RUPUR four-degree-offreedom parallel leg rehabilitation robot is proposed,which can realize the abduction and adduction of ankle joint,flexion and extension of knee joint,hip joint abduction and adduction movements and leg stretching movements.Based on the spiral theory,the constrained spiral system and the degree of freedom properties of the mechanism in the general configuration and the initial configuration are analyzed.The kinematics model of the 2URR-SRR-RUPUR parallel mechanism is established.The closed-loop vector method is used to solve the inverse kinematics of the mechanism and the velocity Jacobian matrix of the mechanism is analyzed.On this basis,the working space and singularity of the mechanism are studied,the workspace map and singularity configuration of the mechanism are obtained.The trajectory planning of the mechanism is based on the rehabilitation path of leg joints,and the planning results are analyzed by SolidWorks Motion software.The simulation results show that the movement of the mechanism is continuous and smooth,suitable for leg rehabilitation training and has good application potential.