2-UPS/RR并联髋关节助力机构及运动性能

李剑锋; 李世才; 陶春静; 季润; 徐成辉; 张兆晶

doi:10.11936/bjutxb2016020013

2-UPS/RR并联髋关节助力机构及运动性能

doi: 10.11936/bjutxb2016020013

1.
北京工业大学机械工程与应用电子技术学院, 北京 100124
2.
国家康复辅具研究中心, 北京 100176

基金项目: 国家自然科学基金资助项目(61273342)；北京市自然科学基金资助项目(3132005,3113026)

详细信息

作者简介:
作者简介: 李剑锋(1964—), 男, 教授, 博士生导师, 主要从事机器人机构学和肢体穿戴方面的研究, E-mail:lijianfeng@bjut.edu.cn

中图分类号: TP24
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- 文章访问数: 119
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- 被引次数: 0
出版历程
- 收稿日期: 2016-02-23
- 网络出版日期: 2022-09-09
- 刊出日期: 2017-01-01

2-UPS/RR Parallel Mechanism Used in Human Hip Joint Power Assist and Kinematic Performance

1.
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
2.
National Research Center for Rehabilitation Technical Aids, Beijing 100176, China

摘要

摘要: 为了帮助髋关节受损的患者完成行走运动,提出了一种适用于髋关节助力的2-UPS/RR并联机构. 该机构不仅可以满足髋关节助力所需要的前屈/后伸、内收/外展、内旋/外旋运动,还可以保证机构的旋转中心与不同患者的髋关节旋转中心重合. 计算了自由度,并应用解析法给出了机构的位置反解,建立了速度雅克比矩阵,通过对驱动参数的限定,求解了机构的工作空间. 最后,基于雅克比矩阵,对比分析了分别驱动移动副和虎克副2根旋转轴时机构的运动学性能. 结果表明:在规定的工作空间内驱动移动副时,机构具有良好的可操作性、运动灵活性和刚度特性. 相比当前的髋关节助力机构,其结构简单,有效避免了支链间不必要的干涉,减小了整个机构的占用体积. 设计的该机构适合髋关节助力训练.
- 髋关节助力 /
- 并联机构 /
- 可操作度 /
- 灵活性 /
- 刚度特性
Abstract: To help patients with impaired hip joint walking exercise, a 2-UPS/RR parallel mechanism was presented, which is suitable for hip joint assisting. It meets the requirements of hip movement for flexion/extension adduction/abduction, pronation/supination, and its mechanism centres of rotations accurately match different patient’s hip. The mobility of the mechanism was calculated, inverse kinematics was solved by using the analytical method, and the velocity Jacobian matrix was established. By demarcating the driving parameters, the work space of the mechanism was coped with. Finally, in view of the Jacobian matrix, the kinematics performance of the mechanism was analyzed when driving mobile deputy and two axes of Hooke deputy, respectively. Results show that the mechanism is of favourable operability, flexibility and stiffness characteristics within the specified workspace. Compared wtih some existing hip joint power assist robots, the mechanism in simple structure can effectively avoid unnecessary interference between branches and significantly reduce the occupancy volume of the entire unit, absolutely with more advantages. Therefore, the designed mechanism is suitable for hip assist training.
- hip joint assisting /
- parallel mechanism /
- operability /
- flexibility /
- stiffness characteristics
The authors have declared that no competing interests exist.

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图 1 髋关节运动

Figure 1. Hip joint movement

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图 2 髋关节关节助力机构模型

Figure 2. Model of hip joint power assist mechanism

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图 3 夹紧装置模型

Figure 3. Clamping device model

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图 4 髋关节助力机构简图

Figure 4. Diagram of the mechanism for hip joint power assistance

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图 5 支链坐标简图

Figure 5. Diagram of the branched coordinate

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图 6 工作空间在X-Y平面上的投影

Figure 6. Projection of working space in the X-Y plane

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图 7 第1种驱动方式下机构的可操作度

Figure 7. Mechanism’s operation in the first drive mode

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图 8 第2种驱动方式下机构的可操作度

Figure 8. Mechanism’s operation in the second drive mode

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图 9 第3种驱动方式下机构的可操作度

Figure 9. Mechanism’s operation in the third drive mode

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图 10 第1种驱动方式下机构的条件数

Figure 10. Mechanism’s condition number in the first drive mode

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图 11 第2种驱动方式下机构的条件数

Figure 11. Mechanism’s condition number in the second drive mode

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图 12 第3种驱动方式下机构的条件数

Figure 12. Mechanism’s condition number in the third drive mode

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图 13 第1种驱动方式下机构的平均刚度

Figure 13. Mechanism’s average stiffness in the first drive mode

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图 14 第2种驱动方式下机构的平均刚度

Figure 14. Mechanism’s average stiffness in the second drive mode

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图 15 第3种驱动方式下机构的平均刚度

Figure 15. Mechanism’s average stiffness in the third drive mode

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表 1 髋关节运动范围

Table 1. Movement range of hip joint(°)

运动方式	屈曲	外展	内旋	外旋
正常运动	37	7	5	9
极限运动	125	45	45	45

下载: 导出CSV

表 2 机构的结构参数

Table 2. Architectural parameters of the mechanismm

参数	数值
d	0.15
L₃	0.05
L₂	0.20
A₁	(0.13,-0.075,-0.2)
A₂	(-0.13,-0.075,-0.2)
B₁	(0.13,-0.08,-0.05)
B₂	(-0.13,-0.08,-0.05)

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参考文献(19)

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2-UPS/RR并联髋关节助力机构及运动性能

doi: 10.11936/bjutxb2016020013

作者简介:
作者简介: 李剑锋(1964—), 男, 教授, 博士生导师, 主要从事机器人机构学和肢体穿戴方面的研究, E-mail:lijianfeng@bjut.edu.cn

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2-UPS/RR Parallel Mechanism Used in Human Hip Joint Power Assist and Kinematic Performance

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2-UPS/RR并联髋关节助力机构及运动性能

doi: 10.11936/bjutxb2016020013

作者简介: 作者简介: 李剑锋(1964—), 男, 教授, 博士生导师, 主要从事机器人机构学和肢体穿戴方面的研究, E-mail:lijianfeng@bjut.edu.cn

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2-UPS/RR Parallel Mechanism Used in Human Hip Joint Power Assist and Kinematic Performance

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出版历程

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作者简介:
作者简介: 李剑锋(1964—), 男, 教授, 博士生导师, 主要从事机器人机构学和肢体穿戴方面的研究, E-mail:lijianfeng@bjut.edu.cn