混联式踝关节康复机构设计与输出受限控制研究

doi:10.16039/j.cnki.cn22-1249.2023.03.014

摘要
相关文章
推荐阅读
Metrics

下载:

PDF (2731KB)
输出: BibTeX | EndNote (RIS)

摘要

踝关节损伤是人体损伤常见形式，踝关节康复治疗受到越来越多的关注与研究。混联机构用于踝关节损伤后康复运动中，可有效提高康复机械装置康复效果。在对人体踝关节的结构特征和运动形式解析的基础上，提出一种4自由度的(2-UPU-PU)&R混联式康复机构。通过利用修正的 K-G公式分析脚踝康复机构的自由度，基于闭环矢量法求解了机构的位置逆解，采用搜索法求解机构的工作空间，设计位置及速度输出受限控制系统，验证所设计机构能满足康复需求，保障使用安全性，为后续控制系统设计提供理论指导。

	服务
	把本文推荐给朋友
	加入引用管理器
	E-mail Alert
	RSS
	（）
	作者相关文章
	梅小龙
	白峭峰
	田勇
	邢兵锁
	顾薇

关键词: 混联机构踝关节工作空间输出受限控制

Abstract:

Abstract: Ankle injury is a common form of human injury, and ankle rehabilitation has received more and more attention and research. The hybrid mechanism is used in the rehabilitation exercise after ankle injury, which can effectively improve the rehabilitation effect of the rehabilitation mechanical device. A 4- degree of freedom (2-UPU-PU)&R hybrid rehabilitation mechanism is proposed based on the analysis of the structural characteristics and motion form of human ankle joint. By using the modified K-G formula to analyze the degree of freedom of the ankle rehabilitation mechanism, the inverse solution of the position of the mechanism is solved based on the closed-loop vector method, and the working space of the mechanism is solved by using the search method. the limited output control system of position and speed is designed to verify that the designed mechanism can meet the needs of rehabilitation, ensure the safety of use, and provide theoretical guidance for the subsequent control system design.

Key words: hybrid mechanism Ankle joint Workspace output constrained system

出版日期: 2023-03-25 发布日期: 2023-03-25 整期出版日期: 2023-03-25

ZTFLH:

TP242

引用本文:

梅小龙, 白峭峰, 田勇, 邢兵锁, 顾薇. 混联式踝关节康复机构设计与输出受限控制研究 [J]. 吉林化工学院学报, 2023, 40(3): 68-73.
MEI Xiaolong, BAI Qiaofeng, TIAN Yong, XING Bingsuo, GU Wei. Research on the Design and Output Constrained of Hybrid Ankle Joint Rehabilitation Mechanism . Journal of Jilin Institute of Chemical Technology, 2023, 40(3): 68-73.

链接本文:

http://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2023.03.014 或 http://xuebao.jlict.edu.cn/CN/Y2023/V40/I3/68

[1]	郑金辉, 王守鹏, 张杰. 桌面型机械臂结构设计与分析 [J]. 吉林化工学院学报, 2022, 39(3): 42-50.
[2]	陈欣欢. 配电网带电作业机器人机构配置与协调控制方法分析 [J]. 吉林化工学院学报, 2022, 39(3): 95-99.
[3]	蔚芳鑫, 孙明革, 周海宇. 基于MATLAB的六轴机械臂运动学分析与验证 [J]. 吉林化工学院学报, 2021, 38(11): 59-62.
[4]	梁正, 武广斌. 伸长型气动柔性驱动器设计与实验 [J]. 吉林化工学院学报, 2021, 38(5): 70-73.
[5]	朱建军, 王明园, 张博文. 基于ROS的轮式机器人建模方法与仿真研究 [J]. 吉林化工学院学报, 2021, 38(3): 61-65.
[6]	曲永印, 艾学忠, 高兴泉, 刘麒. 工业机器人发展现状及地方工科院校一体化育人体系建设思路[J]. 吉林化工学院学报, 2018, 35(7): 1-7.

[1]	. [J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(9): 0 .
[2]	. [J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(9): 0 .
[3]	SHAO Bao-li, LU Da, ZHAO Dong-hui. The Application of Dimensional Analysis in the Physical Quantity Conversion between Physical System and Numerical System [J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(9): 1 -3 .
[4]	ZHANG Jian, ZHAO Xiang, QU Bo, WU Qi, LIU Yu-tong, LI Yu-shi, LIU Qun. Application of Phosphorus-sulfur-nitrogen Composite Flame Retardant in Cotton Fabric [J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(9): 4 -7 .
[5]	WU Ping, REN Hong, LU Fei, WEI Qingling. A Functional Material on Recognition of Zn(II) ions based on the New Azo Compound [J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(9): 8 -10 .
[6]	YANG Yan-jun, WANG Ya-hong, Yang Xiu-dong. Process Aptimization of Surfactant Assisted Extraction of Total Polyphenols from Kyllinga Brevifolia Rottb [J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(9): 11 -15 .
[7]	LIU Jin-lu, LEI Yong-ping, WANG xiao-lin, ZHONG fang-li. Study on the Purification Method of Total Saponins fromFruit of Rosa Davuvrica Pall. and its Purification Method [J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(9): 16 -23 .
[8]	SONG Jian-gang, ZHONG Fang-li, WANG Xiao-lin, LIN Yu. Study on Extraction of Anthocyanin from Aronia melanocarpa Fruit by Ionic liquid Ultrasound Assisted [J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(9): 24 -31 .
[9]	TAN Li-hui, TAN Hong-wu. The Crashworthiness Analysis of different Cross-Section Thin-Walled Components [J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(9): 32 -35 .
[10]	YU Wen-xin, ZHENG Kai, WANG Li-hui, LIU Hai-bo, Wang Jian-xin. The Influence of Magnetostrictive Transducer Radiation Plate material on Radiation Sound Field Distribution [J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(9): 36 -40 .

Viewed

Full text

Abstract

Cited

Shared

Discussed