Synthesis and Application of a Single Degree-of-Freedom Six-Bar Linkage With Mixed Exact and Approximate Pose Constraints
Synthesis and Application of a Single Degree-of-Freedom Six-Bar Linkage With Mixed Exact and Approximate Pose Constraints
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DOI：
10.1115/1.4048959
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发表时间：
2020-10
影响因子：
3.3
通讯作者：
Xiong Zhao;Yu Chennan;C. Jianneng;Sun Xincheng;Ye Jun;Chen Zhiwei;Zhou Qiaojun
中科院分区：
文献类型：
--
作者：
Xiong Zhao;Yu Chennan;C. Jianneng;Sun Xincheng;Ye Jun;Chen Zhiwei;Zhou Qiaojun
现有的单自由度六杆机构综合方法主要包括四个或五个精确位姿。然而，一个理想的轨迹不能合成仅使用五个确切的姿势，因此，它是必要的，引入额外的姿势来约束的轨迹。如果引入更精确的姿势，那么连杆可能没有解。因此，考虑近似位姿的约束，使轨迹符合期望轨迹。基于给定误差范围内的Z（Z < 5）精确位姿和K个近似位姿，成功地将混合位姿引入六杆机构，提出了一种新的单自由度六杆机构综合方法。该方法综合的连杆机构解域宽，可通过控制近似位姿误差进行调整，降低了解的选取难度，保证了理论可行性，使最终机构的轨迹更接近理想轨迹。最后，针对人体肢体多关节协调训练，设计了基于上述六杆机构的康复装置，并研制了样机进行了试验。实验结果表明了该方法的准确性和康复训练的有效性。
Existing research on synthesis methods for single degree-of-freedom (DOF) six-bar linkages mainly include four or five exact poses. However, an ideal trajectory cannot be synthesized using only five exact poses, thus, it is necessary to introduce additional poses to constrain the trajectory. If more exact poses are introduced, then the linkage may have no solution. Therefore, the constraints of the approximate pose are considered to make the trajectory conform to the desired trajectory. This paper successfully introduces mixed poses into a six-bar linkage, based on Z (Z < 5) exact poses and K approximate poses of a given error range, and a new synthesis method for single DOF six-bar linkages is proposed. The solution domain of the linkages synthesized by this method is wide and can be adjusted by controlling the error of the approximate poses, which reduces the difficulty of selecting the solution, ensures theoretical feasibility, and enables the trajectory of the final linkage to more closely match the ideal trajectory. Finally, for the coordinated training of multiple joints in human limbs, a rehabilitation device is designed based on the above six-bar linkage, and a prototype is developed and tested. The test results reveal the accuracy of the proposed method and the effectiveness of rehabilitation training.