绳索牵引骨盆康复机器人的轨迹规划

根据正常人步态运动中骨盆在水平面内的运动情况，对绳索牵引康复机器人进行了轨迹规划研究。依绳索牵引骨盆机构方案，用影响系数方法建立绳索牵引骨盆康复机器人运动学方程，得出骨盆运动与绳索运动的映射关系；基于达朗伯原理建立骨盆的动力学方程，求解出绳索拉力解，并对绳索驱动单元建立动力学方程。通过MATLAB软件对骨盆在步态运动过程中的轨迹进行仿真，得到了各根绳索位置、速度、加速度变化曲线；在考虑绳索工作承受最小拉力和最大拉力阈值的限制时，仿真各根绳索所受拉力变化曲线，可得各根绳索拉力处于对外力平衡和内力平衡的情况，并得到施加在伺服电动机上的电压变化曲线。

Trajectory Planning of a Wire-driven Pelvis Rehabilitation Robot

The trajectory planning of wire-driven rehabilitative robot was researched according to pelvis’ motion in the plane while a healthy person walking. The kinematics equations were established by the influence coefficients, which were depended on the wire-driven pelvis’ mechanism. By the kinematics equations, mapping relationship between pelvis’ motion and wire’s motion can be obtained. The pelvis’ dynamic equations by which the pull on the wire can be obtained were established based on Alembert-Principle. The dynamic equations of wire-driven unit were also established. Pelvis’ trajectory such as position, velocity and acceleration on each wire in walking were simulated by MATLAB software. From the simulated curve of wires’ force considering the limit on the maximal and minimum pull on the wire, whether internal force was balanced and outside force was balanced were clear. The method of trajectory planning proposed is applicable for other wire-driven parallel systems. 