为了辅助病人完成行走训练,提出了一种助行训练机器人骨盆位姿控制机构.根据该机构的原理简图和各杆件的受力,利用牛顿定律分别建立了各杆件的动力学方程.基于联立约束法建立了骨盆位姿控制机构的动力学模型,并根据骨盆位姿的运动规划完成了动力学仿真分析,得到了机构的驱动力(矩)曲线和各杆件的加速度曲线.仿真结果表明,该骨盆位姿控制机构能够实现人体骨盆的位姿控制,动力学仿真可以方便地获得机构的运动参数.该研究为实现助行训练机器人的控制及性能改进提供了理论依据.%In order to improve the rehabilitation of patients' gaits, a training robot was developed with a four degrees of freedom mechanism to control pelvis position during aided walking. In terms of the principles of the mechanism and the forces acting on each linkage, the dynamic equations of every bar were built up by applying Newtonian laws, and appropriate motion constraint equations were proposed. Based on the simultaneous constraint method, a dynamic model of the pelvis position control mechanism was established. Dynamic simulation analysis was carried out according to motion planning for the pelvis position. The driving forces, torque and acceleration curves of the mechanism were derived. The simulation results illustrate that the mechanism can implement positional control of the human pelvis, and by dynamics simulation, the motion parameters of the mechanism can be conveniently obtained. The research provides a theoretical basis for control and performance improvement in gait rehabilitation robots.
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