Workspace analysis of 3SPS+1PS bionic parallel test platform for hip joint simulator
Workspace analysis of 3SPS+1PS bionic parallel test platform for hip joint simulator
复制标题
髋关节模拟器3SPS、1PS仿生并行测试平台工作空间分析
DOI：
10.1177/0954406211404864
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发表时间：
2011-06
期刊：
影响因子：
--
通讯作者：
Zhang, Shuai
中科院分区：
文献类型：
--
作者：
Cheng, Gang;Yu, Jing-li;Ge, Shi-rong;Zhang, Shuai
为了评价人体髋关节的运动性能，提出了一种新型的并联机器人--3SPS+1 PS仿生并联试验平台。SPS表示球形-棱柱形-球形支腿，PS表示棱柱形-球形支腿，其中仅棱柱形关节被致动，因此加下划线。针对3SPS+1 PS四自由度（三转一平移）仿生并联试验平台，基于四元数法推导了运动学逆解方程的求解公式。采用单位四元数表示运动平台的位姿，避免了欧拉角引起的奇异性。结合并联机器人的拓扑结构特点，构建了动平台在给定平移位置的定向工作空间。给出了并联机器人姿态工作空间的求解和评价方法。为了保证机器人的灵活性和获得更多的工作空间，通过对齐次雅可比矩阵的条件数和奇异值分析，研究了机器人的条件指标。并联机械手具有绕Z轴、Y轴和X轴的三个旋转，分别用于表示人体髋关节的三个旋转运动（屈曲/伸展（FE）、外展/内收（AA）和内/外（IE）旋转运动）。数值结果表明，当雅可比矩阵的最大允许条件数在15-20范围内时，3SPS +1 PS仿生并联试验平台的FE、AA和IE转动分别为±25° ~ ±108°、−20° ~ 20°和−21° ~ 21°，该并联机器人能够为髋关节模拟器提供全尺寸的摩擦运动。在灵巧位工作空间中，髋关节假体摩擦副表面的滑动轨迹可以一致地变化。通过验证SPS型主动腿的长度，并联机器人可以提供跨路径的多方向滑动运动的髋关节假体。建立了机械手的三维模型，并进行了运动学仿真。仿真结果表明，3SPS +1 PS仿生并联测试平台能够准确地再现人体髋关节运动，为髋关节假体的临床应用提供了更为可靠的实验数据。该研究为实际应用中的仿生运动仿真奠定了理论基础。
In order to evaluate the movement performance of a human hip joint, a novel parallel manipulator called 3SPS+1PS bionic parallel test platform is proposed in this article. SPS denotes the spherical-prismatic-spherical leg, and PS the prismatic-spherical leg where only the prismatic joint is actuated and hence underlined. For the 3SPS+1PS bionic parallel test platform with four degrees of freedom including three rotations and one translation, the formulae for solving the inverse kinematics equations are derived based on the quaternion method. Unit quaternion is used to represent the position and orientation of a moving platform, and singularities caused by Euler angles are avoided. Combining the topological structure characteristics of the parallel manipulator, the orientation workspace of the moving platform at a given translation position is constructed. Moreover, the procedures to solve and evaluate the orientation workspace of the parallel manipulator are obtained. In order to ensure dexterity and obtain more workspace, the condition index is studied by the condition number and singular values analysis of the dimensionally homogeneous Jacobi matrix. The parallel manipulator has three rotations about the Z-axis, the Y-axis, and the X-axis applied to represent three rotation motions (flexion/extension (FE), abduction/adduction (AA), and internal/external (IE) rotation motion) of a human hip joint, respectively. The numerical results illustrate that the 3SPS + 1PS bionic parallel test platform generates ±25° to ±108° in FE, −20° to 20° in AA, and −21° to 21° in IE rotation where the maximum permissible condition numbers of Jacobi matrix are set within the range 15–20 and the parallel manipulator can provide full-scale friction motion for hip joint simulator. In the dexterous orientation workspace, the slide track on the friction counterface of hip joint prostheses can be varied consistently. By verifying the lengths of the SPS-type active legs, the parallel manipulator can provide cross-path multidirectional slide motion for hip joint prostheses. The three-dimensional model and kinematics simulation of the manipulator are established and analysed. The simulation results prove that the 3SPS + 1PS bionic parallel test platform can accurately represent human hip joint motion and provide more reliable experimental data for hip joint prostheses in clinical application. The research builds the theoretical basis for its bionic motion simulation in practical application.
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影响因子：
10.4
作者：
Geoffrey T. Pond;J. A. Carretero
通讯作者：
Geoffrey T. Pond;J. A. Carretero
DOI：
10.1109/robot.2007.363781
发表时间：
2007-04
期刊：
Proceedings 2007 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Yoonkwon Hwang;Jungwon Yoon;J. Ryu
通讯作者：
Yoonkwon Hwang;Jungwon Yoon;J. Ryu
影响因子：
5.2
作者：
Geoffrey T. Pond;J. A. Carretero
通讯作者：
Geoffrey T. Pond;J. A. Carretero
DOI：
10.1109/tra.2003.814496
发表时间：
2003-08-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
Kim, SG;Ryu, J
通讯作者：
Ryu, J
DOI：
10.1017/s0263574709990841
发表时间：
2009-06
期刊：
2009 Chinese Control and Decision Conference
影响因子：
--
作者：
Yi Cao;Zhen Huang;Hui Zhou;Weixi Ji
通讯作者：
Yi Cao;Zhen Huang;Hui Zhou;Weixi Ji