【作者】 毕秋吉；

【导师】 张立勋；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2010， 硕士

【摘要】 疾病、老龄化、外伤以及交通事故等,都会给人的肢体留下不同程度的后遗症,给患者及其家庭带来不同程度的麻烦。而对其进行康复机器人的辅助训练,恢复其肢体的运动机能也是众多学者多年以来的研究方向。步态训练机器人主要是用于康复人体行走功能为目的的,但大多是以康复下肢为主要手段,而忽略了骨盆运动的重要性。人体的盆部上连腰椎下接双腿,是运动过程中的一个重要环节。协调的骨盆运动,是掌握正确步态的关键。临床实践证明通过盆训练能够显著提高患者下肢的步行能力,因此在步态训练过程中对人体盆部进行一定的康复训练,对患者恢复良好的运动状态是必要的、可行的。本文根据目前有关人体骨盆运动轨迹的研究现状,提出了一种四自由度骨盆控制机构的总体设计方案,并应用Pro/E三维设计软件进行了骨盆控制机构运动平台的总体结构设计,同时提出了一种骑坐方式的悬挂式重力支撑系统。本文所设计的四自由度机器人只有三个驱动源,属于欠驱动运动机器人。因此,对无驱动运动方向提出了两种约束方法,分别为对中弹簧不完全约束法和绳索半驱动约束法。利用SimMechanics构建的仿真模型进行了上述两种方法的控制仿真实验,理论上验证了两种方法的可行性。基于理论研究,通过dSPACE实时仿真平台进行了实验样机的半物理仿真实验研究,证实了理论分析的正确性和方法的实用性。完成了骨盆驱动机构的控制实验,系统运行平稳,跟踪误差达到设计目标,验证此骨盆控制机构设计的合理性和正确性。更多还原

【Abstract】 Illness, aging, Physical Trauma and accidents are factors leading to various level harms to people’s limb and making people suffering differently. So the assistant training robot helping to recover from this suffering is a hot research topic in the academic community.Gait training robot is mainly used to help human beings regain the ability of working. Now most research work focus on lower limbs, ignoring a significant factor:the pelvis. Human’s pelvis, which connects lumbar vertebra and legs, plays an important role in motion, so harmonious pelvis movement is the key point of mastering right gait. Clinical practices proved that patient’s lower limb walking ability could be proved by pelvis training. Consequently, it’s necessary and reasonable to provide the patient with the pelvis training treatment during the process of gait training.This paper presents the overall design of pelvic control mechanism with 4-DOF based on the current motion trajectory research of the human pelvis. And the platform for pelvis training system is designed. In addition, a suspension system for supporting the gravity by riding is proposed.Robot concerned in this paper only has three acutators while DOF is four, which means this robot is categorized into the under-actuated system. Therefore two constraint approaches, no fully constraints on the middle spring and half driven constraint on the rope actuators in the direction of free motion, is adopted to solve the under-actuator problem. Those two approaches is verified by the simulation using the SimMechanics. Based on both theoretical analysis and semi-physical simulation based on the platform of dSPACE real-time simulation system, the theory is proven and approaches are effective. Also the results of the experimental work in controling the pelvic-driven mechanism show that the system is stable and the track errors are in the allowance, which give the rationality and correctness of proposed pelvic control mechanism.更多还原