| 助行训练机器人骨盆位姿控制机构运动学建模及仿真 |
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| 引用本文： | 董玉红,王志忠,张立勋.助行训练机器人骨盆位姿控制机构运动学建模及仿真[J].应用科技,2009,36(3):58-61. |
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| 作者姓名： | 董玉红 王志忠 张立勋 |
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| 作者单位： | 1. 哈尔滨理工大学机械动力工程学院,哈尔滨,150080
2. 哈尔滨工程大学机电工程学院,哈尔滨,150001 |
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| 摘 要： | 助行训练机器人是一种帮助偏瘫、截瘫患耆进行行走训练的康复设备，其作用是通过对人体骨盆中心和腿部的控制实现行走功能，进而达到锻炼肌肉和康复行走功能的目的．该文提出了4自由度骨盆位姿控制机构，基于齐次坐标变换建说了位姿控制机构的运动学模型，利用MATLAB／Simulink完成了运动学仿真，验证了运动学方程的正确性．本研究为助行训练机器人控制系统设计提供了依据．
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| 关 键 词： | 助行训练机器人 骨盆中心 齐次坐标 运动学建模 仿真 |
Kinematics modeling and simulation of pelvis position control mechanism for walking aided training robot |
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| DONG Yu-hong,WANG Zhi-zhong,ZHANG Li-xun.Kinematics modeling and simulation of pelvis position control mechanism for walking aided training robot[J].Applied Science and Technology,2009,36(3):58-61. |
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| Authors: | DONG Yu-hong WANG Zhi-zhong ZHANG Li-xun |
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| Institution: | DONG Yu-hong, WANG Zhi-zhong, ZHANG Li-xun ( 1.School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080,China;2.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001,China) |
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| Abstract: | The walking aided training robot is a kind of rehabilitation equipment to help walking training for paralysis and paraplegic patients. Its role is to implement walking function by controlling human pelvis center and legs＇ motion, and thus achieve training muscles and rehabilitation walk. The pelvis position control mechanism with four degrees of freedom was put forward. The kinematical model of the mechanism was established based on homogeneous coordinate transformation. By using MATLAB/Simulink, the kinematics was simulated, and the correctness of kinematics equations was verified. This study provides a basis for designing the walking training robot＇s control system. |
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| Keywords: | walking aided training robot pelvic center homogeneous coordinates kinematical modeling simulation |
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