基于绳牵引并联机构的上肢康复机器人设计

人类的上肢为生活提供了诸多便利，健康的上肢是高质量生活的保证。上肢如果出现运动功能障碍就需要接受康复治疗。为了减轻康复师的工作强度，同时增强治疗效果，需要利用康复机器人代替康复师来进行康复训练。通过分析肘、肩关节的运动特性和规律，基于三自由度的冗余绳牵引并联机构设计了一款面向上肢康复的机器人。该机器人由定位模块和连接模块组成，可对不同尺寸的上肢进行主动和被动康复训练。由于机器人结构简单、易于装配、制造成本低，更容易被用户所接受。在结构设计完成后对该上肢康复机器人进行了运动学建模，同时进行了机器人奇异性的分析，为后续运动控制的研究做准备。最后，考虑到机器人的力传递性能和体积大小，采用多目标优化的方式对机器人进行了优化设计。仿真结果表明，优化设计有效地提升了机器人的相关性能。研究结果可为绳牵引并联机构在上肢康复机器人设计中的应用提供理论参考。

Design of an Upper Limb Rehabilitation Robot Based on a Cable-Driven Parallel Mechanism

Upper limbs offer a lot of convenient conditions for human lives, whose health directly affect living standards. If an upper limb occurs motor dysfunction, it has to undergo rehabilitation treatments. For reducing working intensities of physical therapists and improving treatment effects, rehabilitation robots can replace therapists. Ergonomics and kinematic characteristics of elbow joint and shoulder joint were used to design an upper limb rehabilitation robot based on a 3 degree-of-freedom redundant cable-driven parallel mechanism. This rehabilitation robot has a positioning module and a connection module, which is applicable to active therapies and passive therapies with different size upper limbs. Due to the simple structure and assembly, and low manufacturing cost, this robot is easier to be accepted by users. After structure design, the kinematic model of this mechanism was established, and the singularities were analyzed, which were prepared for the follow-up study of motion control. Last, by directly considering force transmission performance and size of this rehabilitation robot, a multi-objective optimal design was implemented. The simulations showed the related performances of this robot was improved effectively by this optimal design. The research results can provide a theoretical reference for the applications of cable-driven parallel mechanisms in design of upper limb rehabilitation robots.