摘要
随着康复医疗技术的发展以及对上肢康复效果精准度要求的提高,对高效精准的上肢并联康复机构的研究愈发关键。提出一种新上肢并联康复机构,并针对其展开运动学与动力学层面的剖析。分析2UU-PSU自由度,采用闭环矢量法进行位姿求解并推导运动学方程,验证机构运动合理性;运用拉格朗日法构建动力学方程开展动力学分析;为证实运动学推导的精准性,搭建2UU-PSU实验平台并依靠NOKOV动作捕捉设备开展实验;最后建立自适应模糊PID控制,利用ADAMS和MATLAB Simulink对2UU-PSU机构进行动力学联合仿真。实验结果表明:2UU-PSU上肢机构的动平台位姿测量最大均方根误差分别为6.89%,1.81%和9.73%;三条支链动力学仿真结果与理论数据的最大均方根误差别为2.50%,2.40%和2.97%。从理论与仿真分析以及实验验证结果来看,2UU-PSU机构的运动学和动力学的均方根误差均处于较低水平,表明该机构在运动学和动力学方面具备合理性与可靠性,能够为相关康复机构的设计与研究提供有效依据,并为其他少自由度并联康复机构的动力学相关研究提供了参考。
With the development of rehabilitation medical technology and improving the accuracy of upper limb rehabilitation effect,the research on efficient and accurate upper limb parallel rehabilitation institu⁃tions is becoming increasingly critical.In this paper,a new parallel rehabilitation mechanism for upper limbs was proposed and its kinematics and dynamics are analyzed.The 2UU-PSU Dof was investigated,the closed-loop vector method was used to solve the pose and derive the kinematics equation,and the ratio⁃nality of the mechanism motion was verified.Based on the Lagrange method,dynamic equation was estab⁃lished for dynamic analysis.To verify the correctness of the kinematic derivation,the experimental plat⁃form of 2UU-PSU was built,and experiments were carried out based on NOKOV dynamic trapping equip⁃ment.Finally,the adaptive fuzzy PID control is established,and the 2UU-PSU mechanism is co-simulat⁃ed by ADAMS and MATLAB Simulink.The experimental results show that:in the experiment of the 2UU-PSU mechanism based on the NOKOV dynamic trapping equipment,the max REMS of the pose measurement of the moving platform is 6.89%,1.81%and 9.73%,respectively.The max REMS of the three branched-chain dynamics between the simulation results and the theoretical data is 2.50%,2.40%and 2.96%,respectively.From the theoretical and simulation analysis and experimental verification re⁃sults,the root mean square error of kinematics and dynamics of the 2UU-PSU mechanism is at a low lev⁃el,indicating that the mechanism has rationality and reliability in terms of kinematics and dynamics,and can provide an effective basis for the design and research of related rehabilitation institutions.It also pro⁃vides a valuable reference for other dynamic research on parallel rehabilitation institutions with less Dof.
作者
崔冰艳
李文静
安福新
尚林
吴位贏
杜义仑
桂小庚
CUI Bingyan;LI Wenjing;AN Fuxin;SHANG Lin;WU Weiying;DU Yilun;GUI Xiaogeng(College of Mechanical Engineering,North China University of Science and Technology,Tangshan 063000,China;Huadian Heavy Industries Co.,LTD.,Tangshan 063000,China)
出处
《光学精密工程》
北大核心
2025年第6期884-894,共11页
Optics and Precision Engineering
基金
河北省高等学校科学技术研究重点项目(No.ZD2020151)
河北省研究生课程改革项目(No.YKCSZ2022068)
唐山市机器人机构学理论基础创新团队(No.21130208D)
唐山市基础研究项目(No.23130201E)
华北理工大学重点科研项目(No.ZD-YG-202306-23)
华北理工大学专业学位综合改革项目(No.ZD18010223-03)
华北理工大学研究生创新项目(No.2025S10)
河北省创新创业教育教学改革研究与实践项目(No.2023cxcy095)。
作者简介
崔冰艳(1978-),女,辽宁沈阳人,博士,教授。2001年获沈阳大学机械电子工程专业学士学位,2006年获内蒙古工业大学机械设计及理论专业硕士学位,2012年获燕山大学机械制造及其自动化博士。主要研究方向为并联机器人机构学、康复机器人设计及分析、运动动态捕捉及运动识别等。Email:cuibingyan@ncst.edu.cn;李文静(2001-),女,安徽阜南人,硕士研究生。2023年于华北理工大学获得学士学位,研究方向为康复机器人。E-mail:lwj-may@foxmail.com。
