CN105818136B - A kind of exoskeleton robot shoulder joint design method based on four-bar mechanism - Google Patents
A kind of exoskeleton robot shoulder joint design method based on four-bar mechanism Download PDFInfo
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- CN105818136B CN105818136B CN201610341151.2A CN201610341151A CN105818136B CN 105818136 B CN105818136 B CN 105818136B CN 201610341151 A CN201610341151 A CN 201610341151A CN 105818136 B CN105818136 B CN 105818136B
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- humerus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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Abstract
The present invention proposes a kind of method using four-bar mechanism design shoulder joint：Shoulder joint position when record both arms naturally droop, label humerus C1B1；Both arms stretch nature abduction to humerus and are located at horizontal direction, and the new position of record shoulder joint is relative to the offset of shoulder joint position in previous step, label humerus C2B2；Mapping solves the four-bar mechanism, and C1B1 upper ends are extended to first hinge joints of the point X1 as four-bar mechanism；Alternative second hinge joints of the point Y1 as four-bar mechanism on C1B1；Corresponding 2 points X2, Y2 are found on humerus C2B2；Make one section of circular arc X1X2 by two endpoints of X1, X2, the center of circle is located at point V, makees another section of circular arc Y1Y2 by two endpoints of Y1, Y2, and the center of circle is located at point U, then U and V is other two hinge joint of four-bar mechanism；Make line segment UV, line segment UV represents the rack of four-bar mechanism.The present invention, which realizes, not to be needed to increase the forms of motion that the additional power part such as motor, deceleration device can support shoulder joint to link with clavicle.
Description
Technical field
The present invention relates to exoskeleton robot technical field more particularly to a kind of ectoskeleton machines based on four-bar mechanism
People's shoulder joint design method.
Background technology
Shoulders of human body is complicated, in series by clavicle, shoulder blade and humerus.Humerus can be around shoulder joint along three
Degree of freedom flexible rotating, and shoulder joint itself is also supported by clavicle, can be moved in two degree of freedom around articulatio sternoclavicularis.
By taking the body of right side as an example, attached drawing 1 illustrates skeletal structure more than shoulders of human body.By breastbone, articulatio sternoclavicularis 101,
The series connection articulated chain that clavicle 102, shoulder blade 103, shoulder joint 104, humerus 105 are formed is the basic support construction of upper extremity exercise.
This structure can approx be reduced to attached rod-shaped model shown in Fig. 2, and it is secondary with two can be reduced to one for wherein articulatio sternoclavicularis 201
The bulb joint of a rotary freedom, clavicle 202 are reduced to a straight-bar, and shoulder joint 204, which can then be reduced to a pair, to be had
The bulb joint of three rotary freedoms, humerus 205 are then reduced to ball joint-rotating of the straight-bar around shoulder joint.Clavicle 202 can
With around articulatio sternoclavicularis 201 it is front and rear, swing up and down.Humerus 205 can around be swung around shoulder joint 204, can also be around itself
Axis is inside and outside to be rotated.
Ectoskeleton is a kind of special wearable anthropomorphic robot, its design is different with common anthropomorphic robot.
When designing common anthropomorphic robot, the considerations of for function and cost, often assume shoulder joint itself relative to trunk
It is stationary, thus has ignored the presence of clavicle and shoulder blade intentionally, therefore the abduction of humerus, interior receive move such as attached drawing
As being shown in 3.However the joint of exoskeleton robot needs to follow the limb motion of wearing personnel, therefore ectoskeleton machine
The shoulder joint of device people needs the clavicle movement for coordinating people.The shoulder joint kinesitherapy track of human body is actually feelings as shown in Figure 4
Condition, while humerus abduction, clavicle can be lifted naturally.This means that it needs to add one section of machinery knot parallel with clavicle
Structure.If be directly transformed completely in accordance with structoure of the human body, each degree of freedom is required for increasing a set of motor, encoder, sensor
With deceleration device.Complete machine cost can significantly rise, and weight can also increase very much.But if not adding any structure completely can make again
It is limited into shoulder mobility, influences the comfort level of wearer and robot motion's range.
If in conclusion being fixed clavicle when designing ectoskeleton, wearer's shoulder in hand abduction has
Apparent constriction, arm lifting range can also be very limited, and worn for long periods can possibly even lead to shoulder lesion.If
It is individually for clavicle and adds a set of power plant, then cost significantly improves, and weight increases, complicated to be difficult to process and assemble.
Invention content
It is an object of the invention to from ergonomics angle, clavicle during by analyzing upper arm nature abduction/adduction
Corresponding movement locus, it is proposed that it is a set of using four-bar mechanism design shoulder joint method, realize do not need to increase motor,
The additional power part such as deceleration device can support the forms of motion that shoulder joint links with clavicle.
In order to achieve the above object, the invention is realized by the following technical scheme：
A kind of exoskeleton robot shoulder joint design method based on four-bar mechanism, includes the following steps：
The first step measures the clavicle of wearer and the length of humerus；
Second step, wearer stand erectly, and both arms naturally droop, and humerus is vertical, and record shoulder joint position is denoted as humerus at this time
C1B1, B represent the center point of shoulder joint, and positioned at the upper end of humerus, C represents the end of humerus；
Third walks, and both arms stretch nature abduction to humerus and are located at horizontal direction, and the new position of record shoulder joint is relative to step
The offset of shoulder joint position in rapid two, is denoted as humerus C2B2 at this time；
4th step, mapping solve the four-bar mechanism：
(1) the humerus C1B1 upper ends are extended into a hinge joints of the point X1 as four-bar mechanism；In humerus C1B1
Upper optionally second hinge joints of the point Y1 as four-bar mechanism；
(2) corresponding 2 points X2, Y2, B1X1=B2X2, B1Y1=B2Y2 are found on the humerus C2B2；
(3) make one section of circular arc X1X2 by two endpoints of X1, X2, the center of circle is located at point V, makees by two endpoints of Y1, Y2
Another section of circular arc Y1Y2, the center of circle are located at point U, then point U and point V is other two hinge joint of four-bar mechanism；Make line segment UV,
Line segment UV represents the rack of four-bar mechanism；
(4) connecting rod in the double leval jib sketch is driven to carry out movement simulation by computer aided design software, verified
The line segment of different length obtains the angular range of shoulder flexible motion with combined radius；
(5) according to the angular range of the shoulder flexible motion, in conjunction with the feature and ruler of exoskeleton robot assembly
Very little restrictive condition selectes the specific location of 2 points of U, V, and line segment BX and BY are selected with reference to the intensity restrictive condition of rod piece UY and VX
Length is to get to the four-bar mechanism；
5th step designs specific ectoskeleton shoulder joint component according to each length of connecting rod of the four-bar mechanism.
The beneficial effects of the invention are as follows：The four-bar mechanism that the method according to the invention designs can support shoulder in people
Flexible motion in the range of the normal movement angle of body shoulder.The exoskeleton mechanism that the method according to the invention designs is applicable in people
Group is adult male or women, unlimited ethnic group.The design method of the present invention overcomes gives no thought to clavicle fortune in the prior art
The problem of wearer's body caused by dynamic is uncomfortable, if while solve and be individually for clavicle and add a set of power plant, into
Originally it significantly improves, and weight increases, complicated the problem of being difficult to process and assemble.The present invention only uses a motor and retarder
Humerus is can be realized as to link with clavicle.
Description of the drawings
Fig. 1 is the shoulder structure schematic diagram of human body；
Fig. 2 is simplified clavicle, humerus series connection articulated chain schematic diagram；
Fig. 3 is the no motion of robot shoulder joint abduction of clavicle, interior receipts degree of freedom schematic diagram；
Actual motion track schematic diagram when Fig. 4 is human body shoulder abduction；
Fig. 5 is that upper limb simplifies line chart；
Fig. 6 is the schematic diagram that mapping solves four-bar mechanism；
Fig. 7 is the four-bar mechanism schematic diagram obtained designed by the method for the present invention；
Fig. 8 is the movement locus citing of the four-bar mechanism designed by the present invention；
Fig. 9 is the angular range for supporting head movement of the four-bar mechanism designed by the present invention.
Specific embodiment
The present invention is described in further detail below by specific embodiment combination attached drawing.
Swing due to clavicle is far away from frequency height, and amplitude also very little during swing is swung up and down, therefore
The present invention ignores the swing of clavicle, only considers to swing up and down.It that is, will not be exclusively with a set of power executing device
Drive the part cooperation clavicle swing of ectoskeleton.
The solution of the present invention substantially divides the following steps：
The first step measures the clavicle of wearer and the length of humerus, looks for the center point of joint ball head as possible as endpoint.
Second step, wearer stand erectly, and both arms naturally droop, and humerus is vertical, record shoulder joint position.
Third walks, and both arms stretch nature abduction to humerus and are located at horizontal direction, and the new position of record shoulder joint is relative to step
The offset of shoulder joint position in rapid two.Obtain line chart as shown in Figure 5.Wherein, dotted line and the word that suffix is 1 in attached drawing 5
Mother represents upper limb position when humerus naturally droops, and solid line represents humerus nature abduction to humerus with the letter that suffix is 2 and is located at
Upper limb position during horizontal direction.A points represent the center point of articulatio sternoclavicularis, as the hinge joint on pedestal, sheet in kinematic chain
Body position is fixed.B points represent the center point of shoulder joint, and positioned at the upper end of humerus, C points represent the end of humerus.Therefore it locks
Bone can represent that humerus can be represented with line segment BC with line segment AB.
4th step, mapping solve four-bar mechanism.
After the final purpose of the present invention is the clavicle AB removed in attached drawing 5, the proper motion of humerus can be still realized.Shoulder
The position in joint is included in the upper end of humerus naturally.For the Origin And Destination position measured, it can theoretically pass through attached drawing 6
In mapping mode solve a set of four-bar mechanism to approach its movement locus.A points in attached drawing 6 represent original articulatio sternoclavicularis
Sphere center position, the clavicle that this point and AB are represented will be replaced by four-bar mechanism in subsequent steps.U points and V points are four
Fixed two vertex in position in link mechanism, will be as the new rack of shoulder joint with the fixed point that UV is formed.
Specifically solution procedure is：
(1) humerus C1B1 upper ends are extended into a hinge joints of the point X1 as four-bar mechanism on the basis of attached drawing 5.
Alternative second hinge joints of the point Y1 as four-bar mechanism on humerus C1B1.After the two points are selected, make several
Auxiliary line finds other two hinge joint.
(2) corresponding 2 points X2, Y2 are found on humerus C2B2 first.Specifically can by computer aided design software,
Isometric constraint is applied to line segment B1X1 and line segment B2X2.Because they, which are substantially same line segments, moves to two positions.Together
Sample, isometric constraint is also applied for line segment B1Y1 and B2Y2.
(3) make one section of circular arc X1X2 by two endpoints of X1, X2, the center of circle is located at point V, makees by two endpoints of Y1, Y2
Another section of circular arc Y1Y2, the center of circle are located at point U.Then point U and point V is other two hinge joint of four-bar mechanism.Make line segment UV,
This line segment represents the rack of four-bar mechanism, is fixed.The sketch for doing so out is in incomplete definition status,
The length of line segment BX, BY and the radius of circular arc X1X2, Y1Y2 have infinite multiple solutions, and combination is also infinite more.
(4) connecting rod in the double leval jib sketch is driven to carry out movement simulation by computer aided design software, it can be with
The line segment and combined radius for verifying different length obtain the angular range of shoulder flexible motion.
(5) in case history, the specific location of 2 points of U, V is selected in conjunction with feature and the size constraints of assembly,
The length of line segment BX and BY is selected with reference to the intensity restrictive condition of rod piece UY and VX, you can screens to obtain attached drawing according to above-mentioned condition
Four-bar mechanism shown in 7.Such as：For driving the motor of four-bar mechanism and retarder diameter between 60mm~120mm,
It is preferably mounted at point V or point X.Correspondingly, the distance between point V and wearer's backbone are no less than 30~60mm.Point B representatives are worn
The position of wearer's shoulder joint, the value range of line segment BX are advisable between -50mm~70mm.The position of point Y should meet two simultaneously
A inequality：80mm<BY<200mm；XY>80mm.The radius of circular arc X1X2 is between 130mm~250mm, and the half of circular arc Y1Y2
Diameter is between 180~380mm.
5th step, each length of connecting rod in 7 designs specific ectoskeleton shoulder joint component with reference to the accompanying drawings, and ensures wearer
Shoulder joint be located at the positions of B points in figure.Attached drawing 8 is that the movement locus of the four-bar mechanism gone out designed by the method for the present invention is lifted
Example.Ensure that the shoulder joint of wearer is located at the method for the position of B points in figure and is specially：Aided ruler on connecting rod XY is installed, is marked
The position of B points is shown.Exoskeleton robot rack is adjusted in the fixed position at wearer back so that B points are substantially aligned with wearer
Shoulder joint position.
The four-bar mechanism that the method according to the invention designs can support shoulder in attached angular range shown in Fig. 9
Flexible motion.The exoskeleton mechanism target user designed according to this method is adult male or women, unlimited ethnic group.This
The design method of invention overcomes gives no thought to the problem of wearer's body caused by clavicle movement is uncomfortable in the prior art,
A set of power plant is added if solving be individually for clavicle simultaneously, cost significantly improves, and weight increases, complicated difficulty
In the process and assemble the problem of.The present invention only uses an actuator and can be realized as humerus and clavicle linkage with retarder.It performs
Device is to be controlled in mechanical device by input signal, can generate the dynamical element of corresponding mechanical movement.Such as motor, electromagnetism
Iron, hydraulic actuator, atmospheric pressure actuating cylinder etc. are all typical actuators.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, several simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (6)
1. a kind of exoskeleton robot shoulder joint design method based on four-bar mechanism, it is characterised in that：The method includes
Following steps：
The first step measures the clavicle of wearer and the length of humerus；
Second step, wearer stand erectly, and both arms naturally droop, and humerus is vertical, and record shoulder joint position is denoted as humerus C1B1, B at this time
The center point of shoulder joint is represented, positioned at the upper end of humerus, C represents the end of humerus；
Third walks, and both arms stretch nature abduction to humerus and are located at horizontal direction, and the new position of record shoulder joint is relative to step 2
The offset of middle shoulder joint position, is denoted as humerus C2B2 at this time；
4th step, mapping solve the four-bar mechanism：
S41, the humerus C1B1 upper ends are extended to a hinge joints of the point X1 as four-bar mechanism；It is another on humerus C1B1
Select second hinge joints of the point Y1 as four-bar mechanism；
S42, corresponding 2 points X2, Y2, B1X1=B2X2, B1Y1=B2Y2 are found on the humerus C2B2；
S43, make one section of circular arc X1X2 by two endpoints of X1, X2, the center of circle is located at point V, is made using Y1, Y2 as two endpoints another
Section circular arc Y1Y2, the center of circle are located at point U, then point U and point V is other two hinge joint of four-bar mechanism；Make line segment UV, line segment
UV represents the rack of four-bar mechanism；
S44, the connecting rod in the double leval jib sketch is driven to carry out movement simulation by computer aided design software, verification is different
The line segment of length obtains the angular range of shoulder flexible motion with combined radius；
S45, the angular range according to the shoulder flexible motion, in conjunction with assembly feature and size constraints select U,
The specific location that 2 points of V selectes the length of line segment BX and BY to get to described four with reference to the intensity restrictive condition of rod piece UY and VX
Link mechanism；
5th step designs specific ectoskeleton shoulder joint component according to each length of connecting rod of the four-bar mechanism.
2. according to the method described in claim 1, it is characterized in that：The step S42 is specially by CAD
Software applies isometric constraint to line segment B1X1 and line segment B2X2；It is about likewise, also applying etc. for line segment B1Y1 and B2Y2
Beam.
3. according to the method described in claim 1, it is characterized in that：The U points that the step S43 is obtained are four companies with V points
Fixed two vertex in position in linkage.
4. according to the method described in claim 1, it is characterized in that：In the step 1, the clavicle of people and the length of humerus are measured
It spends using the center point of joint ball head as the endpoint measured.
5. a kind of exoskeleton robot shoulder joint based on four-bar mechanism, it is characterised in that：The exoskeleton robot shoulder joint
Section includes an actuator and a retarder, and the four-bar mechanism is according to according to claim 1-4 any one of them sides
Method designs to obtain.
6. exoskeleton robot shoulder joint according to claim 5, it is characterised in that：The actuator is motor, electromagnetism
Wherein at least one in iron, hydraulic actuator, atmospheric pressure actuating cylinder.
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| CN201610341151.2A CN105818136B (en) | 2016-05-20 | 2016-05-20 | A kind of exoskeleton robot shoulder joint design method based on four-bar mechanism |
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| CN201610341151.2A CN105818136B (en) | 2016-05-20 | 2016-05-20 | A kind of exoskeleton robot shoulder joint design method based on four-bar mechanism |
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| CN105818136B true CN105818136B (en) | 2018-06-26 |
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| EP1398016B1 (en) * | 2002-09-12 | 2005-12-28 | Universiteit Gent | Orthopedic arm and shoulder brace |
| JP4127043B2 (en) * | 2002-12-11 | 2008-07-30 | ソニー株式会社 | Legged mobile robot and actuator device applied as joint axis of legged mobile robot |
| EP2052709A1 (en) * | 2007-10-24 | 2009-04-29 | ETH Zurich | System for arm therapy |
| GB201305984D0 (en) * | 2013-04-03 | 2013-05-15 | Moog Bv | Mechanical linkage |
| CN105573478A (en) * | 2014-10-13 | 2016-05-11 | 北京三星通信技术研究有限公司 | Input control method and device of portable equipment |
| CN104622668B (en) * | 2015-03-04 | 2016-08-24 | 国家康复辅具研究中心 | A kind of bionical device for healing and training of shoulder joint kinesitherapy |
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