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首页> 外文期刊>Journal of Mechanical Science and Technology >Analysis of dynamical stability of rigid-flexible hybrid-driven lower limb rehabilitation robot
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Analysis of dynamical stability of rigid-flexible hybrid-driven lower limb rehabilitation robot

机译：刚性柔性混合驱动的下肢康复机器人动力稳定性分析

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The research of the safety problem of the cable-driven lower limb rehabilitation robots (CDLR) is not considered in the related report. Hence, the purpose of this paper is to study the dynamical stability evaluation method of a rigid-flexible hybrid-driven lower limb rehabilitation robot system (RFHDLR) to meet the training requirements of different patients in different rehabilitation stages. In order to improve the flexibility and operational performance of the robot system, one rigid motion chain is introduced into the cable-driven parallel robot (CDPR) to form a RFHDLR. Secondly, the motion planning strategy of the rigid motion chain is analyzed. Then, based on the kinematics and dynamics of the robot system, the cable tension performance factor and the system stiffness performance factor of the robot system are defined, and the static stability evaluation method and index of RFHDLR are obtained by the weighting method. Considering the patient's ability to withstand the motion velocity and the effect of the volatility of slide motion velocity of the rigid motion chain on the safety of the robot system, the velocity performance factor of the robot system is proposed. The dynamical stability evaluation method and index of RFHDLR are discussed based on the static stability evaluation method and the velocity influence function. Finally, for the two planning strategies of the rigid motion chain, the experimental study of the planned training trajectory of the lower limb traction point is performed based on simulation analysis. The experimental results verify the correctness of the stability evaluation method and provide a reference for further studying the training task planning and the control strategy.
机译：在相关报告中不考虑电缆驱动的下肢康复机器人（CDLR）的安全问题的研究。因此，本文的目的是研究刚性柔性混合驱动的下肢康复机器人系统（RFHDLR）的动态稳定性评估方法，以满足不同康复阶段的不同患者的训练要求。为了提高机器人系统的灵活性和操作性能，将一个刚性运动链引入电缆驱动的并联机器人（CDPR）中以形成RFHDLR。其次，分析了刚性运动链的运动规划策略。然后，基于机器人系统的运动学和动力学，定义了机器人系统的电缆张力性能因子和系统刚度性能因子，并且通过加权方法获得静态稳定性评估方法和RFHDLR的索引。考虑到患者承受运动速度的能力和刚性运动链的滑动运动速度波动效果对机器人系统的安全性，提出了机器人系统的速度性能因子。基于静态稳定性评估方法和速度影响功能讨论了RFHDLR的动态稳定性评估方法和指标。最后，对于刚性运动链的两个规划策略，基于模拟分析进行了下肢牵引点的计划训练轨迹的实验研究。实验结果验证了稳定性评估方法的正确性，并提供了进一步研究培训任务规划和控制策略的参考。

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