摘要
站立式下肢康复机器人是用于辅助患者进行康复运动训练的康复设备。由于下肢康复机器人进行康复运动时,关键连杆的变形、各关节误差会对下肢康复机器人足部末端位置产生影响,通过分析得到主要影响末端位姿的因素,进而达到减小误差的目的。通过对下肢康复机器人理论模型和间隙模型进行运动学分析,得到间隙角与末端位置误差的关系。利用MATLAB对运动模型的末端误差进行求解,最后确定下肢康复机器人间隙误差的主要影响因素。
Standing lower limb rehabilitation robot is a rehabilitation equipment used to assist patients in rehabilitation exercise training.When the lower limb rehabilitation robot performs rehabilitation exercises,the deformation of the key link and the error of each joint will affect the position of the end of the foot of the lower limb rehabilitation robot.Through analysis,the main factors affecting the end pose are obtained,and the purpose of reducing the error is achieved.This paper analyzes the kinematics of the theoretical model and the gap model of the lower limb rehabilitation robot,and obtains the relation between the gap angle and the end position error.MATLAB is used to solve the end error of the motion model,and finally the main influencing factors of the clearance error of the lower limb rehabilitation robot are determined.
作者
王志军
闫文凯
石岩
WANG Zhijun;YAN Wenkai;SHI Yan(College of Mechanical Engineering,North China University of Science and Technology,Tangshan Hebei 063210,China;Industrial Robotics Research Institute of Hebei province,Tangshan Hebei 063210,China;Mechanical Engineering Department,Hebei University of Water Resources and Electric Engineering,Cangzhou Hebei 061001,China;Hebei Industrial Manipulator Control and Reliability Technology Innovation Center,Cangzhou Hebei 061001,China)
出处
《机械设计与研究》
CSCD
北大核心
2022年第4期22-25,共4页
Machine Design And Research
基金
河北省高等学校科学技术研究重点项目(ZD2020151)
河北省高等学校科学技术研究重点项目(ZD2019058)
河北省“三三三人才工程”资助项目(A202101026)
唐山市科技创新团队培养计划项目(21130208D)。
