Error Analysis and Compensation of a Three-degree-of-freedom Cervical Traction Rehabilitation Mechanisms

Hong Li; Qingfeng Wang; Xinyu Wang; Weixiao Lu

doi:10.16578/j.issn.1004.2539.2022.07.020

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Error Analysis and Compensation of a Three-degree-of-freedom Cervical Traction Rehabilitation Mechanisms

Test·Analysis | 更新时间：2022-09-24

- Error Analysis and Compensation of a Three-degree-of-freedom Cervical Traction Rehabilitation Mechanisms
- Journal of Mechanical Transmission Vol. 46, Issue 7, Pages: 131-138(2022)
- 作者机构：
  
  1.中北大学机械工程学院，山西太原 030051
  2.山东非金属材料研究所，山东济南 250031
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.07.020
  CLC：
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李虹,王庆峰,王新宇等.一种3自由度颈椎牵引康复机构的误差分析与补偿[J].机械传动,2022,46(07):131-138.

Li Hong,Wang Qingfeng,Wang Xinyu,et al.Error Analysis and Compensation of a Three-degree-of-freedom Cervical Traction Rehabilitation Mechanisms[J].Journal of Mechanical Transmission,2022,46(07):131-138.
李虹,王庆峰,王新宇等.一种3自由度颈椎牵引康复机构的误差分析与补偿[J].机械传动,2022,46(07):131-138. DOI： 10.16578/j.issn.1004.2539.2022.07.020.

Li Hong,Wang Qingfeng,Wang Xinyu,et al.Error Analysis and Compensation of a Three-degree-of-freedom Cervical Traction Rehabilitation Mechanisms[J].Journal of Mechanical Transmission,2022,46(07):131-138. DOI： 10.16578/j.issn.1004.2539.2022.07.020.

摘要

基于人体颈椎牵引康复机理以及颈椎部位精密易受损的特点，提出一种3自由度2-UPR/RPS颈椎牵引康复机构；对该机构进行了误差分析与补偿，以避免颈椎遭受二次损伤。首先，基于封闭矢量法对其误差建模，并根据全局误差灵敏度确定了11个重要误差；然后，根据给定的误差范围，分析了当,z,=600 mm、,z,=650 mm时动平台的全局位姿误差以及局部误差；最后，基于粒子群算法，得出4组误差补偿的最优解，并通过Matlab以及Adams软件对其进行了联合实验仿真分析。结果表明，该机构误差补偿效果明显，其全局位姿误差、垂直牵引局部误差分别降低了59.14%、89.47%，可有效保障患者颈椎的安全。

Abstract

Based on the mechanism of human cervical traction rehabilitation and the characteristics of the cervical spine area that is precise and easily damaged， a 2-UPR/RPS three-degree-of-freedom cervical traction rehabilitation mechanism is proposed； the error analysis and compensation of this mechanism are carried out to avoid secondary damage to the cervical spine. Firstly， the error modeling is based on the closed vector method， and 11 important errors are identified according to the global error sensitivity； then， based on the given error range， global pose errors and local errors of the moving platform when ,z,=600 mm and ,z,=650 mm are analyzed； finally， based on the particle swarm algorithm， the optimal solutions for the four sets of error compensation are derived， and the joint experimental simulation analysis is carried out by Matlab and Adams software. The results show that the global pose error and the local error of vertical traction are reduced by 59.14% and 89.47% respectively， which effectively ensure the safety of the patient's cervical spine.

关键词

颈椎牵引康复机构误差建模位姿误差误差补偿

Keywords

Cervical traction rehabilitation mechanismsError modelingPose errorsError compensation

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