Abstract：By using the influence coefficients method,the kinematics of the 1R2T wire-driven pelvic rehabilitation robot was analyzed.The relationship of mapping between the motion of pelvis and wire was obtained.Matlab was used to simulate the pelvic expected trajectory in walking,and the variation curves for each wire′s acceleration were obtained.Based on spiral force balance equation of robot and by using Newton-Euler method and D′Alembert′s principle,the dynamic equations were established.By using simulation method,characteristics of robot′s inverse dynamics were analyzed.It is concluded that the set of the threshold of the minimum tensile force actually has influence on regularity for change of each wire′s tensile force.By using Matlab and Adams,the kinetic model of robot was established,the simulation was carried out for the case of whether considering rope stiffness or not.The relevant model is proved to be correct,and the regularity for change of kinematic performance influenced by both minimum threshold and cable stiffness is obtained.
2010, Vol. 31 
