[1]张立勋,王克义,徐生林.绳索牵引康复机器人控制及仿真研究[J].智能系统学报,2008,3(01):51-56.
 ZHANG Li-xun,WANG Ke-yi,XU Sheng-lin.Control and simulation of a wiredriven rehabilitative r obot[J].CAAI Transactions on Intelligent Systems,2008,3(01):51-56.
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绳索牵引康复机器人控制及仿真研究(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第3卷
期数:
2008年01期
页码:
51-56
栏目:
出版日期:
2008-02-25

文章信息/Info

Title:
Control and simulation of a wiredriven rehabilitative r obot
文章编号:
1673-4785(2008)01-0051-06
作者:
张立勋王克义徐生林
哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001
Author(s):
ZHANG Li-xun WANG Ke-yi XU Sheng-lin
College of Mechanical and Electrical Engineering, Harbin Engineering Universit y, Harbin 150001, China
关键词:
绳索牵引力控制伺服控制骨盆运动
Keywords:
wiredriven tension control servo control pelvic motion
分类号:
TP242.3;TP273
文献标志码:
A
摘要:
康复机器人是典型的人机合作系统.人与机器人在同一物理空间,因此对机器人的柔顺性、安全性提出了严格要求.绳索驱动具有柔顺性好、占空间小、重量轻等特点,不会与人体产生刚性碰撞、冲击,非常适合于康复机器人的驱动控制.由于绳索的柔性使其只能承受拉力,其牵引构成冗余驱动系统,因此绳索位置伺服系统须引入力控制,保证工作时绳索具有一定的张力.针对康复训练机器人的人体骨盆控制问题,设计了基于绳索驱动的伺服控制系统,通过Matlab提供的sisotool进行PI和PD控制器的设计,并对张紧力、位置和二者之间的相互影响进行了仿真分析,证明了绳索驱动适合对骨盆规律的控制,并且可以在其他绳索牵引控制技术上得到应用和推广
Abstract:
Rehabilitative robots function in a typical manmachine cooperation s y stem. In this system, robot and patient must occupy the same space, making compl iance and safety essential requirements. Since wiredriven systems have such ch a racteristics as good compliance, light weight, and without rigid hitting or stri king with patients, they are well suited for driving rehabilitative robots. Howe ver, wires can only provide tensile force, so they must have an opposing driving system to regulate motion. Force control is required in a wire position servo s ystem to ensure it demands appropriate effort from the patient and maintains the patient in the correct position. A wire position servo system was designed for control of the motion of a human’s pelvis. Proportional and integral (PI) and p roportional and derivative (PD) controllers were designed with Sisotool in Matla b. Finally, interaction between tension and position was simulated and analyzed, proving that wiredriven modes can effectively control pelvic motion. This met hod can also be applied and extended to control other wiredriven modes.

参考文献/References:

[1] LAFOURCADE P, ZHENG Y Q, LIU X W. Stiffness analysis of wiredriven paral lel kinematic manipulators[C]// Proceeding of 11th World Congress in M ec hanism and Machine Science. Tianjin, 2004.
[2]魏 强,仇原鹰,段宝岩,等.八根索系大型射电望远镜馈源舱运动轨迹规划[J].中国机械工程,2002,23(12):20362039.
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[3]郑亚青,刘雄伟.绳牵引并联机构的研究概况与发展趋势[J].中国机械工程,2003,5(9):808810.
 ZHENG Yaqing, LIU Xiongwei. Research survey and development tendency of wiredr i ven parallel manipulators[J]. China Mechanical Engineering, 2003,5(9):808810 .
 [4]张立勋,王克义,张今瑜,等.基于绳索牵引的骨盆运动并联康复机器人的可控性研究[J].哈尔滨工程大学学报,2007,28(7):790794.
ZHANG Lixun, WANG Keyi, ZHANG Jinyu, et al.Research on the controllability of wi redriven parallel manipulator in exercise of pelvis[J].Journal of Harbin Eng ineering Unibersity,2007,28(7):790794.
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备注/Memo

备注/Memo:
收稿日期:2007-07-06.
基金项目:
国家自然科学基金资助项目(60575053);
高等学校博士学科点专项科研基金资助项目(20060217024).
 作者简介:
 张立勋,男,1962年生,教授,博士生导师,主要研究方向为康复机器人技术、人机合作机器人技术,主持2项国家自然科学基金、1项国家博士点基金和多项省级项目,发表论文100余篇,其中被SCI、EI检索30余篇.
 王克义,男,1979年生,讲师,博士研究生,主要研究方向为康复机器人技术、并联机器人技术,发表论文4篇. 
徐生林,男,1981年生,硕士研究生,主要研究方向为康复机器人技术、并联机器人技术. 
通讯作者:张立勋.E-mail:zhanglixun@hrbeu.edu.cn.
更新日期/Last Update: 2009-05-10