【作者】 陈晓波；

【导师】 王海芳；

【作者基本信息】 东北大学 ， 控制工程（专业学位）， 2021， 硕士

【摘要】 踝关节是人体的承重关节且参与运动,但其极易损伤,因此踝关节的康复训练十分重要。然而应用于踝关节康复的多数设备存在自由度不足且功能不够完善的问题。针对这些问题,本文提出一种新型混联式柔性踝关节康复装置,康复装置采用同步带驱动,解决了绳驱动的传动精度以及直线电机驱动的刚性冲击的缺点;使用等效球面副和可调整高度的脚架,使得脚踝转动中心可以与康复机构转动中心重合。主要研究工作如下:首先介绍踝关节的生理结构、运动形式及康复治疗;提出踝关节康复装置设计的基本原则,进行原理设计和总体结构设计,并计算了自由度;结果表明所设计的踝关节康复装置具有三个转动自由度,能够完成踝关节的三种基本康复训练。其次对踝关节康复装置进行了运动学分析,主要包括位置分析、速度分析和加速度分析;运用封闭矢量法和Newton-Raphson迭代法进行并联机构的位置反解分析和正解分析,并进行了位置正反解模型的验证。使用数值离散搜索法对工作空间进行求解,并结合MATLAB绘制了并联机构的姿态工作空间二维图;基于雅可比矩阵对可操作度、灵巧性和奇异性进行分析,研究表明并联机构在可达姿态工作空间内具有良好的可操作性和灵巧性;利用SolidWorks和ADAMS联合仿真,添加约束和运动副后完成虚拟样机建模,模拟踝关节康复运动的三种基本运动形式,通过仿真输出的各同步带等效长度、速度和加速度变化曲线平稳无突变,证明了新型混联式柔性踝关节康复装置设计方案的可行性。然后设计新型混联式柔性踝关节康复装置控制系统,求出柔性驱动机构的传递函数和数学模型,根据新型混联式柔性踝关节康复装置在康复训练时会有外力干扰的特性,提出将微分前置模糊PID和前馈补偿相结合的控制方法,用前馈补偿法来抑制外界干扰产生的多余力的控制策略,并在Simulink中搭建控制器和康复装置平台的控制系统模型,进行控制系统仿真,观察在不同控制器的控制下康复装置平台实际力与期望力的跟踪曲线并进行结果对比分析,验证了控制算法的正确性与可行性。最后对搭建实验平台的硬件部分进行了选型并完成了实验平台的搭建,对整个康复机构平台的功能进行基本功能测试,最终验证新型混联式柔性踝关节康复装置可以达到踝关节康复训练的目的。更多还原

【Abstract】 The ankle joint is a weight-bearing joint of the human body and participates in sports,but it is extremely vulnerable to injury,so the rehabilitation training of the ankle joint is very important.However,most devices used in ankle joint rehabilitation suffer from insufficient degrees of freedom and insufficient functions.In response to these problems,this article proposes a new hybrid flexible ankle joint rehabilitation device.The rehabilitation device is driven by a synchronous belt,which solves the shortcomings of the transmission accuracy of the rope drive and the rigid impact of the linear motor drive;the equivalent spherical pair and adjustable The height of the tripod allows the rotation center of the ankle to coincide with the rotation center of the rehabilitation organization.The main research work is as follows:Firstly,the physiological structure,movement form and rehabilitation treatment of the ankle joint are introduced;the basic principles of the ankle joint rehabilitation device design are put forward,the principle design and the overall structure design are carried out,and the degrees of freedom are calculated;the results show that the designed ankle joint rehabilitation device With three degrees of freedom of rotation,it can complete three basic rehabilitation trainings of the ankle joint.Secondly,kinematics analysis of the ankle joint rehabilitation device,including position analysis,velocity analysis and acceleration analysis;closed vector method and Newton-Raphson iterative method were used to carry out the position inverse analysis and forward analysis of the parallel mechanism,and the position was analyzed.Verification of the positive and negative solution model.The numerical discrete search method is used to solve the work space,and combined with MATLAB to draw a two-dimensional drawing of the posture work space of the parallel mechanism;the operability,dexterity and singularity are analyzed based on the Jacobian matrix,and the research shows that the parallel mechanism is reachable Good operability and dexterity in the posture workspace;using SolidWorks and ADAMS co-simulation,adding constraints and motion pairs to complete the virtual prototype modeling,simulating the three basic motion forms of ankle joint rehabilitation,and each of the simulation output The equivalent length,speed and acceleration change curve of the synchronous belt is stable without sudden change,which proves the feasibility of the design scheme of the new hybrid flexible ankle rehabilitation device.Then design the control system of the new hybrid flexible ankle joint rehabilitation device to obtain the transfer function and mathematical model of the flexible drive mechanism.According to the characteristics of the new hybrid flexible ankle joint rehabilitation device that there will be external force interference during rehabilitation training,it is proposed to divide the differential Pre-fuzzy PID and feed-forward compensation control method,the feed-forward compensation method is used to suppress the control strategy of excess force generated by external interference,and the control system model of the controller and rehabilitation device platform is built in Simulink to control the system Simulation,observation of the tracking curve of the actual force and expected force of the rehabilitation device platform under the control of different controllers,and a structural comparison analysis,verified the correctness and feasibility of the control algorithm.Finally,the hardware part of the experimental platform was selected and the construction of the experimental platform was completed.The basic function test of the function of the entire rehabilitation organization platform was carried out.Finally,it was verified that the new hybrid flexible ankle rehabilitation device can achieve ankle rehabilitation training.purpose.更多还原