摘要
中国脑卒中患者数量的巨幅增长且后遗症对患者生活质量带来严重影响,尤其手功能丧失最为突出,给社会经济带来巨大负担。因此,研发了人-机-环境高度融合的并联腕康复机器人,借助定制的直线推杆,具备良好的穿戴舒适性、承载性和高运动精度,能够适应腕关节运动轴线错位。基于腕关节生理体征、康复训练需求、运动学特征和可穿戴性,进行并联腕康复机构的构型综合,优选出2-SPU/RR并联构型,研制结构紧凑、运动精确及高支撑刚度的并联腕康复机器人样机。建立该康复机构的运动学模型,进行可操作度、灵巧性、刚度分析和运动学性能评价。分析结果表明:该并联机构能够满足康复运动的自由度需求,且运动平滑无突变,在康复运动范围内,不存在奇异位形,且具有良好的可操作性、灵巧性和各向同性。
The substantial increase in the number of stroke patients in China has brought a severe impact on patients'quality of life due to the lingering sequelae,particularly the loss of hand function,which imposes a significant burden on the society and the economy.Therefore,a parallel wrist rehabilitation robot with a highly integrated human-machine-environment systemhas been developed.This robot with excellent wearable comfort,load-bearing capacity,and motion precisionis capable of adapting to wrist joint misalignments.Based on the physiological and kinematic characteristics of the wrist joint,requirements of rehabilitation training,and wearability,a comprehensive configuration of the parallel wrist rehabilitation mechanism is accomplished,ultimately selecting the 2-SPU/RR parallel configuration.A prototype is developed with a compact structure,highmotion precision,and excellent support stiffness.A kinematic model of this parallel mechanism was established,and the analysis of operability,dexterity,stiffness,and kinematic performance are conducted.The results indicated that the parallel mechanism meets the DOFrequirements for rehabilitation exercises,providing smooth and uninterrupted motion within the rehabilitation range,without singular configurations,while also demonstrating good operability,dexterity,and isotropy.
作者
张雷雨
常雅威
俞振东
于洋
李剑锋
张斐然
ZHANG Leiyul;CHANG Yaweil;YU Zhendong;YU Yang;LI Jianfeng;ZHANG Feiran(Beijing Key Laboratory of Advanced Manufacturing Technology,Beijing University of Technology,Beijing 100124;Inner Mongolia First Machinery Group Co.,Ltd.,Baotou 014030;Wuhan Second Ship Design and Research Institute,Wuhan 430064)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2024年第17期123-132,共10页
Journal of Mechanical Engineering
基金
国家自然科学基金(52375279,52175001)
国家重点研发计划(2018 YFB1307004)资助项目。
关键词
腕康复
并联机构
可穿戴性
运动学性能
wrist rehabilitation
parallel mechanism
wearable comfort
kinematic performance
