一种新型并联式解耦踝关节康复机构及其优化.pdfVIP

第 51 卷第 9 期 2015 年 5 月 机 械 工 程 学 报 JOURNAL OF MECHANICAL ENGINEERING Vol .51 No .9 May 2015 DOI：10.3901/JME.2015.09.001 一种新型并联式解耦踝关节康复机构及其优化* 曾达幸 胡志涛 侯雨雷 苏永林 (燕山大学机械工程学院 秦皇岛 066004) 摘要：对踝关节功能损伤的患者，尤其是中风患者来讲，踝关节的康复是一项非常困难的问题。针对此提出一种新型并联式 解耦踝关节康复机构，并基于中医康复疗法引入踝关节康复机构需要注重牵引功能的设计思路。所提出的机构能够同时实现 单独转动康复(背屈、跖屈，外展、内收)和在牵引下转动的康复过程；利用螺旋理论分析机构在任意位姿下的自由度性质； 推导出机构位置正反解，求解速度雅可比矩阵，并对机构进行奇异性分析；通过输出参数对解耦机构杆件尺寸进行优化，基 于遗传算法给出数值算例，验证了机构工作空间满足踝关节康复运动的要求。 关键词：踝关节康复；并联机构；解耦；尺寸优化 中图分类号：TH112 Novel Decoupled Parallel Mechanism for Ankle Rehabilitation and Its Optimization ZENG Daxing HU Zhitao HOU Yulei SU Yonglin (School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004) Abstract：For the patients who are suffering the ankle injuries especially for the hemiplegic after stroke, the ankle rehabilitation is one of the very difficult problems. A novel decoupled parallel mechanism used for ankle rehabilitation is presented aiming at this background. Based on the tractive therapy of traditional Chinese medicine, the design idea that more attention should be paid on the traction function for ankle rehabilitative mechanism is introduced. Independent rotational rehabilitation, including dorsiflexion, plantarflexion, abduction and adduction, and rotational rehabilitation under the traction can be realized by the proposed mechanism simultaneously. By using the screw theory, the character of the degrees of freedom of the mechanism at arbitrary pose is analyzed. The forward and inverse position solutions of the mechanism are derived out, the velocity Jacobian matrix is solved, and the singularity analysis is performed. The optimization for the size of the decoupled mechanism is performed through the output parameters, and the numerical example is given based genetic algorithm, which verifies the workspace of the mechanism satisfying the requirements of the ankle rehabilitation movement. Key words：ankle rehabilitation；parallel mechanism；de