【作者】 王克义；

【导师】 张立勋；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2009， 博士

【摘要】 康复训练机器人作为新兴特种机器人近年来得到了快速发展,其能够帮助具有功能障碍的患者和老年人进行康复训练,使关节和肌肉功能得到更为有效的恢复,从而进一步提高他们的生活质量；其也作为国家中长期科学和技术发展规划纲要的主要发展内容。本文以下肢康复训练机器人的骨盆运动控制为对象,研究绳索牵引骨盆运动控制机器人的关键技术。通过绳索牵引骨盆运动控制,用以满足躯干与下肢步态的协调运动,同时提供一定的辅助力,这样不但能对受训者进行减重训练,而且还能锻炼受训者的自身平衡能力,从而达到更好的训练效果。主要研究内容包括绳索牵引骨盆运动控制机器人的绳索布置方案、1R2T机器人运动学及欠约束控制特性分析、1R2T机器人动力学分析、机器人运动规划研究等,并研制了1R2T绳索牵引机器人实验样机,基于dSPACE半物理仿真系统对绳索牵引机器人的驱动控制特性和动力学性能进行了实验研究。在总结国内外下肢康复机器人以及骨盆运动控制机构概况的基础上,提出了一种绳索牵引骨盆运动控制机器人,用以满足下肢步态康复训练需要；分析了绳索牵引并联机器人的特点,并探讨绳索牵引机器人的应用领域及发展趋势。根据正常人步态中的下肢支撑状态,将下肢简化成等效的结构形式,分析了骨盆的自由度输出类型,确定步态康复过程中骨盆的运动空间。依据骨盆运动控制的需要,基于绳索牵引机器人的可控性,分析了存在能够满足该功能的绳索牵引机器人的结构形式,选取了一种欠约束绳索牵引机器人。对水平面内不同绳索牵引机器人布置形式的工作空间大小、质量进行了研究和仿真分析,最终确定了等效的机器人绳索布置方案。针对水平面内所确定的机器人绳索布置方案,利用三角形方法对其的位置进行了正逆分析,通过影响系数法建立了机器人的运动学方程,得到绳索运行速度、加速度与骨盆运行速度、加速度之间的映射关系。建立了机器人静力学力螺旋平衡方程,通过广义逆求得绳索拉力解空间,包括最小范数解和零空间解。研究了欠约束绳索牵引机器人实际控制过程中对骨盆运动控制的影响情况,并进行了误差分析。利用牛顿欧拉法建立了骨盆在水平面内的动力学方程,基于达朗伯原理,建立了骨盆运动与绳索拉力之间的力学方程；又分析了绳索本身弹性对机器人动力学特性的影响,建立了绳索驱动单元的平衡方程。由于绳索牵引系统与刚性系统不同的特点之一就是其刚度相对较小,在此研究了绳索刚度和绳索零空间拉力对骨盆静态刚度的影响以及在外力作用下绳索刚度所引起骨盆的振动情况,并进行了仿真分析。根据骨盆在步态过程中的期望运动状态,利用MATLAB建立了机器人运动学模型,并利用ADAMS所建立的机构模型对数学模型进行了验证,同时完成了运动学运动规划分析；建立了未考虑绳索刚度时机器人的逆动力学模型,进行了逆动力学运动规划研究,判断绳索最小拉力阈值对绳索拉力大小影响的规律。建立了考虑绳索刚度的绳索牵引机器人机构模型,分析了绳索刚度、绳索拉力对动力学运动规划的影响。依据水平面内骨盆运动控制需要,研制了绳索牵引机器人实验样机,介绍了实验系统的各部分构成及其功能。基于dSPACE半物理仿真系统对绳索牵引机器人进行了实验研究,主要包括机器人的驱动控制特性实验和轨迹跟踪实验等。通过对实验结果进行分析,表明机器人的控制性能和精度满足下肢步态康复训练时对骨盆运动控制的要求。更多还原

【Abstract】 In recent years, rehabilitation robots as an emerging special robot are developed quickly. They could help the function-barrier patient and the elderly to carry on the recovery training in order to make the joint and muscle recovery effectively, which their quality of life are improved. It is also a main development content of the national guideline on medium and long term program for science and technology development.In the paper, the pelvis motion control of the lower-limb rehabilitation robot was chosen, and the key technologies of wire-driven pelvis motion control robot were researched. Through the robot, the coordinated motion between the body trunk and the lower limbs was realized and simultaneously certain external force was got, which could make not only the trainer carry on the weight relief training but also exercise self-balance ability training, thus the better training effect could achieved. The research mainly included. the wire arrangement scheme of wire-driven pelvis motion control robot, the configuration analysis of 1R2T robot, the dynamics analysis of 1R2T robot, the motion planning and so on. An experimental prototype of the wire-driven 1R2T robot was developed. Based on the dSPACE system, the experimental study on robot’s control characteristic and dynamics performance was carried.On the basis of the researches results of the lower-limb rehabilitation robot as well as the pelvis motion control machine at home and abroad, a kind of wire-driven pelvis motion control robot was proposed to meet the requirement of the lower limb gait recovery training. The characteristics of wire-driven robot were analyzed and the trend of development was discussed.According to the lower limb support condition of the normal human, the lower limbs were simplified as the equivalent structural style. Based on the equivalent model, the types of pelvis’s degree of freedom were analyzed and the motion space of the pelvis was confirmed in the gait recovery process. Based on the requirement for the pelvis motion control and the controllability of wire-driven robots, the structural style of wire-driven robots which was able to satisfy this function was analyzed. A kind of incompletely restrained wire-driven robot was selected. In the horizontal plane, the size and quality of the working space on different arrangement form of the wire-driven robot was simulated. The wire arrangement scheme of the wire-driven pelvis motion control robot was determined finally.Aiming at the arrangement scheme of wires in the horizontal plane, using the degenerated three-pyramid method, the direct and inverse position and pose were analyzed. The kinematics equations were established by the influence coefficients, so that the mapping relationship between wire’s motion and pelvis’s motion was obtained. The static wrench balance equations were founded. Through the generalized inverse method, the solution space of wire tension was got, which included smallest norm solution and null space solution. The influence of incompletely restrained robots on the pelvis motion control was studied, and the error analysis was carried on.Using the Newton-Euler method, the dynamics equations were constituted. Based on the D’Alembert principle, the force equations between the pelvis movement and the wire tension were got. The influence of wire elasticity on the robot dynamics characteristics was analyzed. Because one of different properties between wire-driven system and rigid system was that the rigidity of wire-driven system was relatively small, the influence of wire rigidity and wire tension in null pace on the pelvis static rigidity was analyzed, and pelvis vibration situation was analyzed under the external force.On the basis of the desired motion state of the pelvis in the course of gait training, the kinematics model was established using MATLAB, And is was confirmed by the machine model which was established using ADAMS. The inverse dynamics model was built, in which the wire rigidity was neglected. The motion planning was conducted, in which the influence of the wire smallest tension value on wire tension change was analyzed. The mathematical model of the wire-driven robot was founded in view of wire rigidity. The effects of wire rigidity and wire tension on dynamics motion planning were analyzed.According to the requirement of the pelvis motion control in the horizontal plane, the experimental prototype of the wire-driven robot was developed. The components and function of the experimental system were described. Based on the dSPACE system, the experimental study was conducted, which mainly included. the actuation control characteristic experiment, the trajectory planning experiment and so on. Through the experimental analysis, the results showed that the control performance and precision of the wire-driven robot could meet the requirement of pelvis motion control in the process of the lower limb gait recovery training.更多还原