【作者】 何春燕；

【导师】 刘更谦；

【作者基本信息】 河北工业大学 ， 机械电子工程， 2005， 硕士

【摘要】 踝关节扭伤是骨科临床常见病,易造成踝关节不稳而出现反复扭伤和关节活动度障碍等后遗症。临床试验证明:踝关节扭伤后的康复治疗可以实现踝关节功能的最大恢复,避免后遗症的发生。目前临床使用的踝关机康复器械功能单一,不能满足康复治疗的全部需要。基于并联机构的踝关节康复机器人处于研究阶段,并且大都存在成本过高、噪音大、使用不方便等缺点,不适合家庭使用。 在并联机构中,机构构型决定了机器人的特性。因此,作者从踝关节康复机理出发,在分析和比较了当前可以实现踝关节康复治疗的各种并联机构后,提出了一种带有中心支撑轴的、旋转输入型的新型3-RSS/RU三自由度并联机器人。该机器人可实现三轴旋转运动,符合踝关节康复治疗的需要。 本论文首先推导了3-RSS/RU并联机器人的运动学反解方程,并对位置正解进行了分析,推导了速度雅可比矩阵,在此矩阵的基础上,利用虚功原理得到了力矩传递雅可比矩阵,对力矩的输入输出做出了仿真。在运动学反解的基础上,通过边界数值搜索的方法,对工作空间各截面进行了分析,绘制出了工作空间的三维曲面图,得出了工作空间的形状,讨论了尺寸参数对工作空间的影响并得出了相应的结论。然后利用空间模型理论研究了该并联机器人的速度各向同向性,并绘制了性能图谱,为今后的优化设计奠定了基础。 在反解的基础上,采用参数化设计和人机交互相结合的方法,用MATLAB开发了3-RSS/RU并联机器人运动学和工作空间仿真系统。该系统验证了3-RSS/RU并联机器人符合踝关节康复治疗的需要,并对提高其设计效率具有一定的价值。更多还原

【Abstract】 Ankle injuries are one of the most common injuries in orthopaedics clinic. They result in repeated injuries by ankle instability and anchylosis etc. Clinic experiments prove that rehabilitation therapy to the sprained ankle effectively promots functional recovery of ankle joint and prevents future injury. At present, ankle rehabilitation devices used in clinic have less functions and they can’t meet all needs of the rehabilitation therapy. Home rehabilitation robots based on parallel robotic mechanisms in process of development are expensive, noise, using inconveniently and not fit for home.Mechanism structure decides characteristic of parallel robotic mechanism. The paper proposes a new 3-RSS/RU rotation-inputting parallel robotic mechanism with a central strut based on the .ankle recover mechanism after analyzing and comparing many kinds of parallel mechanism for sprained ankle rehabilitation therapy. It can rotate in three axes and is applicable to sprained ankle rehabilitation therapy.The paper presents the formulation of the inverse kinematics of the 3-RSS/RU parallel mechanism and analyzes the direct solution. It deduces velocity Jacobian matrix. The moment transfer Jacobian matrix is obtained base on the principle of virtual work and simulated the input and output. Based on the inverse kinematics solution, the paper analyzes sections of the workspace, protracts the 3D bend plane of the workspace, obtains the figure of the workspace, discusses the mechanism’s parameter influence to the workspace and gets some conclusions by searching boundary numerical values. The velocity isotropy of the parallel mechanism is investigated by the theory of space model and protracted capability charts. These achievements are beneficial to optimizing design for the future.At last based on the inverse kinematics, the simulation system of kinematics and workspace are developed through the method that combines parametic design with interactive design by MATLAB. The simulation system proves that the 3-RSS/RU parallel mechanism robot is fit to ankle rehabilitation therapy and it is valuable for the simulation system to improve designing efficiency.更多还原