| 摘要: |
| 目的 针对脑卒中导致患者肩关节半脱位以及运动功能障碍问题,提出将球面四杆机构应用于肩关节康复
训练中,设计了一款单自由度肩关节康复训练机构,实现了肩关节康复训练时的预期运动规律。 方法 建立球面四
杆机构的运动学模型,通过 MATLAB 运动学分析程序,验证运动学模型的正确性;融合近似刚体导引综合法与最
小二乘法,建立机构主支链和回路目标函数模型;采用罚函数法对机构各约束条件进行分类处理,确立球面四杆机
构优化综合的差分进化(DE)算法。 结果 运用球面四杆机构近似刚体导引综合数值算例进行验证,迭代曲线收敛
性强,结果表明上述目标函数模型正确可行且该算法高效可靠;在此基础上,求解出满足肩关节康复训练运动功能
需求的最优尺寸参数。 结论 应用 SolidWorks 和 ADAMS 软件生成了机构连杆点运动轨迹和机构运动学仿真曲线,
仿真结果表明:此机构设计满足预期运动轨迹需求,具有良好的运动学性能,为研发结构简单、功能可靠的肩关节
康复训练装置提供了理论基础。 |
| 关键词: 脑卒中 球面四杆机构 肩关节康复训练 运动学分析 DE 算法 运动学仿真 |
| DOI： |
| 分类号: |
| 基金项目: |
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| Kinematic Design of a Spherical Four-bar Shoulder Joint Rehabilitation Training Mechanism |
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WU Zhenhong1, CHE Linxian2
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1. School of Mechanical Engineering Chongqing Technology and Business University Chongqing 400067 China
2. School of Intelligent Manufacturing & Transportation Chongqing Vocational Institute of Engineering Chongqing
402260 China
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| Abstract: |
| Objective Aiming at the problem of shoulder joint subluxation and motor dysfunction caused by stroke in
patients a spherical four-bar mechanism is applied to shoulder joint rehabilitation training and a single degree of freedom
shoulder joint rehabilitation training mechanism is designed to achieve the expected motion rules during shoulder joint
rehabilitation training. Methods A kinematic model of the spherical four-bar mechanism was established and the
correctness of the kinematic model was verified through the MATLAB kinematic analysis program. By integrating the
approximate rigid body guidance synthesis method and the least squares method an objective function model for the main
branch chain and loop of the mechanism was established. The penalty function method was used to classify and process the
constraints of the mechanism and a differential evolution DE algorithm for optimizing and synthesizing spherical fourbar mechanisms was established. Results The comprehensive numerical example of approximate rigid body guidance
using the spherical four-bar mechanism was used for verification and the convergence of the iterative curve was strong.
The results showed that the above objective function model was correct and feasible and the algorithm was efficient and
reliable. On this basis the optimal size parameters that meet the functional requirements of shoulder rehabilitation training
were solved. Conclusion SolidWorks and ADAMS software are applied to generate the linkage point motion trajectory and kinematic simulation curve of the mechanism. The simulation results show that the designed mechanism meets the
expected motion trajectory requirements and has good kinematic performance. This provides a theoretical basis for the
development of shoulder joint rehabilitation training devices with simple structures and reliable functions. |
| Key words: stroke spherical four-bar mechanism shoulder joint rehabilitation training kinematic analysis DE
algorithm kinematic simulation |
