Design and Kinematic Performance Analysis of the (2-PUR/UPS) &amp;R Hybrid Cervical Exoskeleton

Song Shengtao; Wei Zhanbao; Ren Yiming; Wu Wenjiao

doi:10.16578/j.issn.1004.2539.2023.12.011

您当前的位置：

首页 >

文章列表页 >

Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton

Design· Calculation | 更新时间：2023-12-21

- Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton
- Journal of Mechanical Transmission Vol. 47, Issue 12, Pages: 75-81(2023)
- 作者机构：
  
  中北大学机械工程学院，山西太原 030051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.12.011
  CLC：
- Published：15 December 2023，
  
  Received：20 September 2022，
  
  Revised：12 January 2023，
扫描看全文
宋胜涛,魏占宝,任毅明等.(2-PUR/UPS) &R混联式颈椎外骨骼的设计及运动性能分析[J].机械传动,2023,47(12):75-81.

Song Shengtao,Wei Zhanbao,Ren Yiming,et al.Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton[J].Journal of Mechanical Transmission,2023,47(12):75-81.
宋胜涛,魏占宝,任毅明等.(2-PUR/UPS) &R混联式颈椎外骨骼的设计及运动性能分析[J].机械传动,2023,47(12):75-81. DOI： 10.16578/j.issn.1004.2539.2023.12.011.

Song Shengtao,Wei Zhanbao,Ren Yiming,et al.Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton[J].Journal of Mechanical Transmission,2023,47(12):75-81. DOI： 10.16578/j.issn.1004.2539.2023.12.011.

摘要

针对颈椎病患者的颈部牵引康复训练，提出了一种混联式（2-PUR/UPS）&R颈椎康复机器。该机器具有3R1T共4个自由度，符合人体颈椎的活动度要求；通过对该机器的运动学性能分析，验证其是否可以应用在人体颈椎康复领域。首先，利用螺旋理论和修正的Kutzbach-Grvble公式对机构的自由度进行求解和验证；其次，通过求解机构的位置反解，得到机构的杆长，编写求解工作空间的程序，利用数值搜索法得到机构的工作空间；最后，通过Adams软件对该机构进行了仿真分析。结果显示，该机构能够达到颈椎活动所需的范围，其中，前倾后仰为-55°～35°，左旋右旋为-52°～52°，左右侧屈为-45°～45°，能够为颈椎病患者提供牵引治疗。

Abstract

In this study

a hybrid type (2-PUR/UPS) &R cervical vertebra rehabilitation machine is proposed for the cervical traction rehabilitation training of patients with cervical spondylosis. The machine has 3R1T four degrees of freedom and meets the requirement of the range of motion of human cervical vertebra. The kinematic performance of the machine is analyzed to verify whether it can be applied in the field of human cervical vertebra rehabilitation. Firstly

the degrees of freedom of the mechanism are solved and verified by using the spiral theory and the modified Kutzbach-Grvble formula. Secondly

by solving the inverse solution of the position of the mechanism

the rod length of the mechanism is deduced

the program of solving the workspace is written

and the workspace of the mechanism is obtained by the numerical search method. Finally

the mechanism is simulated and analyzed by Adams software. The results show that the mechanism could reach the range required for cervical spine movement

including -55° to 35° for forward and backward leaning. Left-handed and right-handed is -52° to 52°; the left and right lateral flexion is -45° to 45°

which can provide traction treatment for patients with cervical spondylosis.

关键词

康复机器颈椎位置反解工作空间Adams软件

Keywords

Recovery machineCervical spineInverse solutionWorkspaceAdams software

references

李亚丽.颈椎牵引康复机构的设计与运动性能分析［D］.太原：中北大学，2020：1-70.

LI Yali.Design and kinematics performance analysis of a rehabilitation mechanism for cervical vertebra traction［D］.Taiyuan：North University of China，2020：1-70.

贺石生，方凡夫.颈椎病牵引治疗专家共识［J］.中国脊柱脊髓杂志，2020，30（12）：1136-1143.

HE Shisheng，FANG Fanfu.Expert consensus on traction treatment of cervical spondylosis［J］.Chinese Journal of Spine and Spinal Cord，2020，30（12）：1136-1143.

戴玥，石萍，郑宏宇，等.基于人体生物力学的颈椎动力外骨骼的设计与运动学分析［J］.上海理工大学学报，2022，44（1）：18-26.

DAI Yue，SHI Ping，ZHENG Hongyu，et al.Design and kinematics analysis of powered cervical exoskeleton based on human biomechanics［J］.Journal of University of Shanghai for Science and Technology，2022，44（1）：18-26.

丘永亮.智能便携式颈椎康复器的研究与设计［J］.机械工程师，2018（10）：109-110.

QIU Yongliang.Research and design of intelligent portable cervical vertebra rehabilitation device［J］.Mechanical Engineer，2018（10）：109-110.

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（7）：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（7）：131-138.

李清，丰玉玺，刘荣帅，等.2-UPS/（S+SPR）R并联机构伴随运动与正反解分析［J］.包装工程，2020，41（7）：164-168.

LI Qing，FENG Yuxi，LIU Rongshuai，et al.Concomitant motion and forward and inverse solutions of 2-UPS/（S+SPR）R parallel mechanism［J］.Packaging Engineering，2020，41（7）：164-168.

车林仙，何兵，文世坤，等.（2PUR-UP）-PUS并联机构的逆运动学与可达空间分析［J］.机械设计，2021，38（6）：87-95.

CHE Linxian，HE Bing，WEN Shikun，et al.Analysis on kinematic performance of the （2PUR-UP）-PUS parallel mechanism［J］.Journal of Machine Design，2021，38（6）：87-95.

张伟中，李金平，叶敏，等.2-PUR-PSR并联机构尺度综合多目标优化［J］.农业机械学报，2020，51（11）：403-410.

ZHANG Weizhong，LI Jinping，YE Min，et al.Multi-objective optimization of dimensional synthesis for 2-PUR-PSR parallel manipulator［J］.Transactions of the Chinese Society for Agricultural Machinery，2020，51（11）：403-410.

樊晓琴，李瑞琴，李庠，等.（2-SPS+PU）&R混联式踝关节康复机器人及运动学性能分析［J］.机械科学与技术，2019，38（7）：1035-1040.

FAN Xiaoqin，LI Ruiqin，LI Xiang，et al.（2-SPS+PU）&R hybrid ankle joint rehabilitation robot and kinematic performance analysis［J］.Mechanical Science and Technology for Aerospace Engineering，2019，38（7）：1035-1040.

黄真，赵永生，赵铁石.高等空间机构学［M］.2版.北京：高等教育出版社，2014：25-160.

HUANG Zhen，ZHAO Yongsheng，ZHAO Tieshi.Advanced spatial mechanism［M］.2nd ed.Beijing：Higher Education Press，2014：25-160.

XU Y D，ZHAO Y，YI Y，et al.Type synthesis of over constrained 2R1T parallel mechanisms with the fewest kinematic joints based on the ultimate constraint wrenches［J］.Mechanism and Machine Theory，2019，147（5）：94-114.

THOMAS J M，JOY M L，SUDHEER A P.Kinematic and dynamic analysis of a 3-PUS spatial parallel manipulator［J］.Chinese Journal of Mechanical Engineering Science，2020，33（1）：104-120.

陈淼，张氢，葛韵斐，等.2UPR-RRU并联机构及其运动学分析［J］.北京航空航天大学学报，2019，45（6）：1145-1152.

CHEN Miao，ZHANG Qing，GE Yunfei，et al.2UPR-RRU parallel mechanism and its kinematics analysis［J］.Journal of Beijing University of Aeronautics and Astronautics，2019，45（6）：1145-1152.

呼慧敏，晁储芝，赵朝义，等.中国成年人人体尺寸数据相关研究［J］.人类工效学，2014，20（3）：49-53.

HU Huimin，CHAO Chuzhi，ZHAO Chaoyi，et al.Study on correlation of human body size data in Chinese adults［J］.Chinese Journal of Ergonomics，2014，20（3）：49-53.

HUSSAIN S，JAMWAL P K，VLIET P V，et al.State-of-the-art robotic devices for wrist rehabilitation：design and control aspects［J］.IEEE Transactions on Human-Machine Systems，2020，50（5）：361-372.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism

Kinematic Analysis of 3-SPS/UPR Parallel Worktable

Modeling and Simulation of Cuttlefish-imitating Underwater Sampling Manipulators

Mechanism Design and Kinematics Analysis of a 6-DOF Manipulator

Shoulder Optimization and Motion Simulation of a 7-DOF Exoskeleton Upper Limb Rehabilitation Robot

Related Author

Liu Juan

Li Ruiqin

Wang Yuan

Ning Fengping

Bai Xueqing

Wang Yuan

Li You

Zhang Xuehai

Related Institution

Department of Mechanical Engineering, Shanxi Engineering Vocational College

College of Mechanical Engineering, North University of China

School of Mechanical Engineering, Guangxi University

School of Mechanical and Automotive Engineering, Xiamen University of Technology

Quanzhou Institute of Equipment Manufacturing Haixi Institutes, Chinese Academy of Sciences

⁰

Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton

DOI：10.16578/j.issn.1004.2539.2023.12.011

摘要

Abstract

关键词

Keywords

references