第34卷第5期南京理工大学学报(自然科学版)

JournalofNanjingUniversityofScienceandTechnology(NaturalScience)

Vo.l34No.51R2T绳索牵引并联康复机器人绳索弹性研究

王克义,张立勋,孟 浩

1,2

1

2

(哈尔滨工程大学1.机电工程学院;2.自动化学院,黑龙江哈尔滨150001)

摘 要:该文以平面三自由度(1R2T型)绳索牵引康复机器人为对象,分析了绳索弹性和绳索

拉力对骨盆(动平台)静态刚度的影响,发现不同绳索弹性时,相同绳索拉力对动平台静态刚度影响不同。利用ADAMS软件对绳索拉力和绳索刚度的影响情况进行了机构仿真,发现绳索弹性对系统静态刚度的影响比绳索拉力大。分析并仿真了系统受外界干扰后的振动状态,结果表明,增大绳索拉力可以提高系统的抗干扰性。建立了考虑绳索弹性的动力学方程,以期望轨迹通过逆动力学方程计算出的绳索拉力作为系统动力学的输入,用ADAMS和MATLAB进行系统动力学仿真和实验,结果表明,绳索的弹性使骨盆的实际运动范围变小,且出现了位姿误差,距起始点越远该误差越大。

关键词:绳索牵引;弹性;动平台;康复机器人;静态刚度;动力学

中图分类号:TP242.3;TP273 文章编号:1005-9830(2010)05-0602-06

Elasticityof1R2TWire drivenParallelRehabilitationRobots

WANGKe yi,ZHANGLi xun,MENGHao

1,2

1

2

(1.CollegeofMechanicalandElectricalEngineering;

2.CollegeofAutomation,HarbinEngineeringUniversity,Harbin150090,China)

Abstract:Basedonthe3 DOF(1R2Ttype)wire drivenplanesystemoftheparallelrehabilitationro

bo,ttheeffectsofthewireelasticityandtensiononthestaticstiffnessofthemovingplatformareana lyzed.Itisdissoverdtha,tiftensionsarethesame,theeffectsaredifferentaccordingtothevariouswireelasticity.TheADAMSsoftwareisusedtosimulatetheinfluencingrelationshipbetweenwireten sionandwirestiffness,findingoutthattheeffectofwireelasticityonthestaticstiffnessisgreaterthanthatofthetension.Thevibrationstateofthedisturbedsystemisalsosimulatedandtheresultsindi catethattheanti jammingperformancecanbeimprovedbyincreasingthetension.Thedynamicequa tionscontainingthewireelasticityarebuiltandusedtocalculatethesysteminputsincludingthewiretensionsaccordingtothedesiredtrajectory.ThedynamiccharacteristicsofthesystemareanalyzedbysimulatingintheADAMSandMATLAB.Theexperimentalinvestigationisconductedaswel.lBothresultsshowtha,tbecauseofthewireelasticity,thepracticalmotionrangeofthemovingplatformde creasesandtheposeerrorappearesandbecomesbiggerasthecontrollingdistanceincreases.Keywords:wire driving;elasticity;dynamicsplatforms;rehabilitationrobots;staticstiffness;dy namics

收稿日期:2009-01-10 修回日期:2010-06-20

基金项目:国家 863 计划资助项目(2008AA040203);黑龙江省自然科学基金(F200904);中央高校基本科研业务费专项资金资助项目(HEUCF100707)

作者简介:王克义(1979-),男,博士后,讲师,主要研究方向:并联机器人技术,E mai:lwangkey@ihrbeu.edu.cn。