绳牵引上肢并联康复机器人柔索误差逆向建模与分析.pdfVIP

工程科学学报，第

47

卷，第

8

期：1698−1708，2025

年

8

月

Chinese

Journal

of

Engineering,

Vol.

47,

No.

8:

1698−1708,

August

2025

/10.13374/j.issn2095-9389.2024.09.21.001;

绳牵引上肢并联康复机器人柔索误差逆向建模与分析

✉

崔

祯，赵志刚，苏

程，孟佳东，赵祥堂，柴

伟

兰州交通大学机电工程学院，兰州

730070

✉通信作者，

E-mail:

zhaozhg@

摘

要

针对柔索牵引上肢康复机器人在康复训练过程中柔索的形变误差导致机器人运动精度降低的问题，提出了一种基

于形变本构方程的柔索误差逆向建模方法.

首先，结合人体上肢生理结构和运动特性对康复机器人机构进行设计，并利用改

进Denavit–Hartenberg（D–H）法建立机器人的空间等效模型，验证了机器人运动的合理性和等效模型的正确性.

其次，在综合

考虑柔索形变、柔索与滑轮的摩擦以及柔索出绳点位置的基础上，结合力旋量法和逆向求解思想建立了沿着实际柔索矢量

方向的机器人柔索牵引系统动力学模型，并对康复训练过程中柔索的运动状态、配置情况和张力进行分析.

最后，给定一组

人体上肢康复实例，通过仿真得到了康复训练轨迹下柔索形变误差，与柔索的受力和长度变化趋势进行对比分析，并结合柔

索形变方程验证了柔索误差逆向模型的正确性，该模型为柔索牵引康复机器人的控制和安全性分析提供基础，同时也为柔索

牵引并联系统的误差分析提供思路.

关键词

康复机器人；机构设计；柔索；并联系统；逆向思想；误差建模

分类号

TP242.3

Inverse

modeling

and

analysis

of

flexible

cable

error

of

cable-pulled

upper

limb

parallel

rehabilitation

robot

CUIZhen，ZHAOZhigang✉，SUCheng，MENGJiadong，ZHAOXiangtang，CHAIWei

School

of

Mechanical

and

Electrical

Engineering,

Lanzhou

Jiaotong

University,

Lanzhou

730070,

China

✉Corresponding

author,

E-mail:

zhaozhg@

ABSTRACT

To

address

the

problem

of

reduced

accuracy

of

robot

motion

due

to

the

deformation

error

of

a

flexible

cable

during

the

training

of

an

upper

limb

rehabilitation

robot,

an

inverse

modeling

method

is

proposed

based

on

the

intrinsic

equation

of

deformation

of

the

flexible

cable

error.

First,

by

combining

the

physiological

structure

and

movement

characteristics

of

the

shoulder,

elbow,

and

wrist

of

the

human

upper

limb,

the

arm

exoskeleton,

which

is

the

wearing

mechanism

of

the

rehabilitation

robot,

is

designed

to

increase

the

compatibility

of

the

mechanism

and

the

human

body.

The

robot

drive

system

has

a

parallel

structure

of

flexible

cable

traction,

which

improves

the

flexibility

of

the

robot,

effectively

reducing

the

impact

of

robot

rehabilitation

training

on

the

human

upper

limb,

thereby

making

the

robot

perform

better

than

that

with

a

parallel

structure.

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