重力自平衡上肢康复机器人设计与试验
Design and test of gravity self balancing upper limb rehabilitation robots
马冲 1李守忠 1匡新宇 1张文龙 1李军利 1赵宏哲2
作者信息
- 1. 中国农业大学 工学院,北京 100083
- 2. 北京航空航天大学 机器人研究所,北京 100191
- 折叠
摘要
[目的]在机器人中添加重力平衡机构,可有效提升机器人的动态性能.但现有上肢康复训练机器人涉及末端牵引式平衡机构的很少.针对该问题,在分析了上肢康复机器人悬臂工作过程中质心变化规律的基础上,设计了一种可自动平衡重力的上肢康复机器人悬臂机构.[方法]该机构能够通过确定零长弹簧位置以及参数实现重力平衡,即只需1根弹簧便能满足上肢康复机器人悬臂在拉伸以及旋转工作状态下的自平衡;理论上可完全消除由重力产生的关节负载,减小能量损耗,提升上肢康复机器人的工作范围及系统性能;并且设计了康复机器人平衡模型并搭建样机试验平台,验证了模型的准确性和设计方案的可行性.[结果]结果表明,与传统牵引式康复悬臂相比,弹簧重力平衡方案的效果显著,平衡所需力矩减小了92%,关节驱动转矩减小了85%.
Abstract
[Objective]Adding a gravity balance mechanism to robots can effectively improve their dynamic performance.However,there are few existing upper limb rehabilitation training robots that involve end traction balance mechanisms.Based on the analysis of the change law of the center of mass during the cantilever working process of the upper limb rehabilitation robot,a cantilever mechanism of the upper limb rehabilitation robot that can automatically balance gravity was designed to address this issue.[Methods]This institution can achieve gravity balance by determining the position and parameters of the zero length spring,which means that only one spring is needed to meet the self balance of the upper limb rehabilitation robot cantilever in tension and rotation working states.In theory,joint loads generated by gravity can be completely eliminated,energy loss can be reduced,and the working range and system performance of upper limb rehabilitation robots can be improved.And a rehabilitation robot balance model was designed and a prototype test platform was built to verify the accuracy of the model and the feasibility of the design scheme.[Results]The results show that compared with the traditional traction rehabilitation cantilever,the balance effect of spring gravity balance scheme is significant,the torque required for balance is reduced by 92%,and the joint driving torque is reduced by 85%.
关键词
上肢康复/重力自平衡/零长弹簧/质心特性/数学模型Key words
Upper limb rehabilitation/Passive gravity balance/Zero length spring/Centroid characteristics/Mathematical model引用本文复制引用
出版年
2025
NETL
NSTL
万方数据