一种冗余驱动踝关节康复机器人及其非冗余驱动形式的运动学/刚度分析、比较与优化

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-06-26 DOI:10.1016/j.mechmachtheory.2025.106131

Xiaoshu Zhang , Yi Sun , Andong Jiang , Qian Qi , Huan Shen , Aihong Ji

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引用次数: 0

摘要

提出了一种新颖的三自由度冗余驱动并联踝关节康复机械手pupar - 2prpaul - pu及其非冗余驱动形式pupar - prpaul - pu。所提出的平行踝关节康复操纵器（PARMs）具有两个旋转运动（2R），用于踝关节的跖屈/背屈（PL/DO）和内翻/外翻（IN/EV），以及一个沿下肢纵轴牵引的平移运动（1T）。首先，对两种parm进行了自由度分析、逆运动学和正运动学分析、奇异性分析和工作空间分析。然后，选择传输指标和良好的传输工作空间对两种parm的传输性能进行评价。其次，通过虚拟关节法建立了刚度模型，并通过虚拟刚度指标对两种parm的刚度性能进行了评价。分析结果表明，冗余驱动的PARM比非冗余驱动的PARM具有更好的传动性能和刚度性能，尽管其可达工作空间略有减少。最后，采用参数适应度归一化方法对两种parm的传动性能和刚度性能进行了优化。

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Kinematic/stiffness analysis, comparison and optimization of a redundantly actuated ankle rehabilitation robot and its non-redundantly actuated form

This paper proposes a novel three degrees of freedom (3-DoF) redundantly actuated parallel ankle rehabilitation manipulator PUPaR-2PRPaU-PU and its non-redundantly actuated form, PUPaR-PRPaU-PU. The proposed parallel ankle rehabilitation manipulators (PARMs) feature two rotational motions (2R) for plantarflexion/dorsiflexion (PL/DO) and inversion/eversion (IN/EV) of the ankle, as well as one translational motion (1T) for traction along the longitudinal axis of the lower leg. First, mobility analysis, inverse and forward kinematics, singularity analysis, and workspace analysis are presented for the two PARMs. Then, the transmission index and the good transmission workspace are selected to evaluate the transmission performance of the two PARMs. Next, the stiffness models are derived through the virtual joint method, and the stiffness performance of the two PARMs is evaluated via the virtual stiffness index. The analysis results demonstrate that the redundantly actuated PARM can achieve better transmission and stiffness performance than its non-redundantly actuated counterpart, despite a slight reduction in its reachable workspace. Finally, the parameter-fitness normalization method is applied to optimize the transmission and stiffness performance of the two PARMs.

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry