助行训练机器人骨盆位姿机构动力学分析
Dynamics Analysis on Pelvis Position Mechanism of Walking Aided Training Robot

为了辅助偏瘫病人完成行走训练，提出了一种助行训练机器人骨盆位姿控制机构，根据该机构的原理和组成，利用凯恩方法建立了骨盆平面机构的动力学方程，并根据骨盆位姿的运动规律进行了运动学仿真计算，得到了机构运动杆件的位移、速度和加速度曲线。通过解算动力学方程得到了驱动力曲线。计算结果表明：该骨盆位姿控制机构能够实现人体骨盆的位姿控制，通过控x、z方向的移动机构和骨盆平面机构两个杆的伸缩，可以实现人行走训练时骨盆四个自由度的运动。
In order to aid the walking training of hemiplegia patients, a kind of four degrees of freedom pelvis position control mechanism of walking aided training robot is put forward. Based on the principle and components of the mechanism, the dynamics equations of pelvis plane mechanism are established with Kane's method. The kinematics simulation calculations are carried out according to the motion law of pelvis position. The displacement, velocity and acceleration curves of the mechanism motion linkages are presented. By solving dynamics equations the drive forces curves are obtained. The results show that the mechanism can implement position control of human pelvis. By actuating the moving mechanisms of x and z directions and expansions of two linkages of pelvis plane mechanism, the pelvis motions with four degrees of freedom in human walking training can be realized