生物医学机器人系统中悬架杠杆机构的设计

"Design of a Suspension Lever Mechanism in Biomedical Robotic System".

作者信息

Voloshkin A, Tereshchenko A, Carbone G, Rybak L, Nozdracheva A

机构信息

Belgorod State Technological University Named After V. G. Shukhov, Belgorod, Russia.

Department of Mechanical Engineering, Energy Engineering and Management, University of Calabria, Rende, Italy.

出版信息

Front Robot AI. 2022 Jul 22;9:906691. doi: 10.3389/frobt.2022.906691. eCollection 2022.

DOI:10.3389/frobt.2022.906691

PMID:35937618

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9352879/

Abstract

The article discusses the design of a suspended lever mechanism with elastic elements, which is used as a safety device in a robotic system for the rehabilitation of the lower limbs. The article analyzes the existing mechanical structures of devices for rehabilitation, identifies the problems of operation, design, and safety systems and suggests a new design of the device. The process of reverse development of a lever mechanism scheme to ensure safety during rehabilitation of the lower limbs is presented. The design of the lever mechanism consists of movable levers connected by elastic elements. The device allows you to dampen the force during active rehabilitation. The power calculation of the lever mechanism in the rehabilitation system was carried out. The article addresses the issues present in the current mechanical designs with a brief discussion on the system architecture.

摘要

本文讨论了一种带有弹性元件的悬杆机构的设计，该机构用作下肢康复机器人系统中的安全装置。文章分析了现有康复设备的机械结构，指出了操作、设计和安全系统方面的问题，并提出了该设备的新设计。介绍了为确保下肢康复过程中的安全而对杠杆机构方案进行逆向开发的过程。杠杆机构的设计由通过弹性元件连接的活动杠杆组成。该设备可在主动康复过程中缓冲力量。对康复系统中杠杆机构进行了功率计算。本文讨论了当前机械设计中存在的问题，并对系统架构进行了简要探讨。