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在上肢康复机器人的设计中,由于患者悬臂及机器人臂自身重力的影响需要较大驱动力矩的驱动电机,且电机驱动力矩波动较大。为了防止在康复训练过程中驱动力力矩过大对患者造成的肌肉拉伤、脱臼等二次伤害,提出了一种运用气弹簧和拉簧相结合来部分抵消机器人及患者上肢重力的重力支撑装置。设计了支撑装置的运动机构。通过分析表明该装置可以有效地减小电机驱动力矩。最后,运用Pro/E对重力支撑装置进行了实体建模,导入ADAMS/View中做动力学仿真,得到了有支撑装置和无支撑装置情况下机器人主要关节驱动力矩的变化曲线;结合试验获得的驱动力矩的变化曲线,验证了该装置的应用使机器人驱动力矩的极值减小了50%以上。
In the design of upper limb rehabilitation robot, the drive motor with larger driving torque is needed due to the gravity of the patient cantilever and the robot arm, and the motor driving torque fluctuates greatly. In order to prevent secondary injury such as muscle strain and dislocation caused by excessive driving force during rehabilitation training, a gravity supporting device that partially compensates for the gravity of upper limbs of a robot and a patient by using a combination of a gas spring and a tension spring . The movement mechanism of supporting device is designed. The analysis shows that the device can effectively reduce the motor driving torque. Finally, using Pro / E, the model of gravity support was modeled and imported into ADAMS / View for dynamic simulation. The change curve of the robot main joint driving torque with and without support device was obtained. The curve of the driving torque verifies that the application of this device reduces the extreme value of the driving torque of the robot by more than 50%.