绳索驱动下肢训练机器人系统运动稳定性分析
Analysis of the dynamical stability of a rope-driven lower limb training robot system
王砚麟 1安宗文 2黄华 2马强 2王克义 3李竞航 3王燕卓3
作者信息
- 1. 兰州理工大学 机电工程学院,甘肃 兰州 750030;哈尔滨工程大学 机电工程学院,黑龙江 哈尔滨 150001
- 2. 兰州理工大学 机电工程学院,甘肃 兰州 750030
- 3. 哈尔滨工程大学 机电工程学院,黑龙江 哈尔滨 150001
- 折叠
摘要
针对绳索驱动下肢训练机器人的稳定性问题,本文建立了绳索驱动下肢训练机器人的运动学和动力学模型,给出了绳索拉力优化解的计算表达式,并推导获得了机器人的系统刚度解析表达式.考虑不同训练对象承受运动强度的能力不同,定义了速度影响函数.综合考虑绳索拉力、系统刚度和速度影响函数等因素定义了机器人系统的运动稳定性评价指标,并通过稳定工作空间、抗干扰稳定工作空间和不同训练轨迹的实例计算明确了机器人工作空间内中上部区域的运动稳定性能更好,为运动支链中的过轮运动规划和训练任务规划提供了理论依据.
Abstract
The stability problem of a rope-driven lower limb training robot(RDLTR)was studied.The kinematics and dynamics model of the designed RDLTR was established,deriving a computational expression of the optimized solution of the rope tension and an analytical expression of the system stiffness of RDLTR.A velocity influence function was defined because training objects differ in their ability to bear the motion intensity.The evaluation in-dex of the dynamical stability of the RDLTR system was defined by combining the rope tension,system stiffness,and velocity influence function and clarified through the example calculation of a stable workspace,a robust stable workspace,and different training trajectories.Results revealed an improved dynamical stability performance of RDLTR in the upper and middle regions in the workspace,providing a theoretical basis for the motion planning of the pulleys in the motion branch chain and training task planning.
关键词
绳索驱动机器人/下肢训练机器人/绳索拉力优化/系统刚度/运动稳定性/运动学/动力学/速度影响函数/稳定工作空间Key words
rope-driven robot/lower limb training robot/rope tension optimization/system stiffness/dynamical sta-bility/kinematics/dynamics/velocity influence function/stable workspace引用本文复制引用
基金项目
国家自然科学基金(52175006)
甘肃省高等学校产业支撑引导项目(2020C-12)
甘肃省自然科学基金(22JR5RA229)
出版年
2024
国家科技期刊平台
NSTL
万方数据