2UU-PSU 上肢康复机构运动学与动力学研究

打开文本图片集

中图分类号：TP394. 1；TH691. 9 文献标识码：Adoi：10. 37188/OPE. 20253306. 0884 CSTR：32169. 14. OPE. 20253306. 0884

Kinematics and dynamics of 2UU-PSU upper limb rehabilitation mechanism

CUI Bingyan1*，LI Wenjing1，AN Fuxin2，SHANG Lin1，WU Weiying1，DU Yilun 1 ，GUI Xiaogeng1 （1. College of Mechanical Engineering，North China University of Science and Technology， Tangshan 063000，China； 2. Huadian Heavy Industries Co. ，LTD. ，Tangshan 063000，China） * Corresponding author，E-mail：cuibingyan@ncst. edu. cn

Abstract：With the development of rehabilitation medical technology and improving the accuracy of upper limb rehabilitation effect，the research on efficient and accurate upper limb parallel rehabilitation institu⁃ tions is becoming increasingly critical. In this paper，a new parallel rehabilitation mechanism for upper limbs was proposed and its kinematics and dynamics are analyzed. The 2UU-PSU Dof was investigated， the closed-loop vector method was used to solve the pose and derive the kinematics equation，and the ratio⁃ nality of the mechanism motion was verified. Based on the Lagrange method，dynamic equation was estab⁃ lished for dynamic analysis. To verify the correctness of the kinematic derivation，the experimental plat⁃ form of 2UU-PSU was built，and experiments were carried out based on NOKOV dynamic trapping equip⁃ ment. Finally，the adaptive fuzzy PID control is established，and the 2UU-PSU mechanism is co-simulat⁃ ed by ADAMS and MATLAB Simulink. The experimental results show that：in the experiment of the 2UU-PSU mechanism based on the NOKOV dynamic trapping equipment，the max REMS of the pose measurement of the moving platform is 6.89%，1.81% and 9.73% ，respectively. The max REMS of the three branched-chain dynamics between the simulation results and the theoretical data is 2.50% ， 2.40% and 2.96% ，respectively. From the theoretical and simulation analysis and experimental verification re⁃ sults，the root mean square error of kinematics and dynamics of the 2UU-PSU mechanism is at a low lev⁃ el，indicating that the mechanism has rationality and reliability in terms of kinematics and dynamics，and can provide an effective basis for the design and research of related rehabilitation institutions. It also pro⁃ vides a valuable reference for other dynamic research on parallel rehabilitation institutions with less Dof .

Key words：2UU-PSU；parallel mechanism；reverse position solution；lagrange method；dynamics

1 引 言

在康复医疗领域，传统的上肢康复手段存在诸多局限性［1］，如康复训练模式单一、难以根据患者个体差异精准调整训练参数［2］等，这在很大程度上影响了上肢康复的效果和效率，导致患者的康复进程缓慢，生活质量难以得到有效提升［3］。（剩余13805字）