双支链式侧翻辅助装置机构设计与运动学图形表征分析

doi:10.11996/JG.j.2095-302X.2025051094

图学学报 ›› 2025, Vol. 46 ›› Issue (5): 1094-1104.DOI: 10.11996/JG.j.2095-302X.2025051094

双支链式侧翻辅助装置机构设计与运动学图形表征分析

刘征¹(), 潘国新², 姚鹏震¹, 刘甜¹^,², 苏鹏¹()

¹ 北京信息科技大学机电工程学院，北京 100192
² 国家康复辅具研究中心，北京市老年功能障碍康复辅助技术重点实验室，民政部神经功能信息与康复工程重点实验室，北京 100176

收稿日期:2024-10-25 接受日期:2025-03-10 出版日期:2025-10-30 发布日期:2025-09-10
通讯作者:苏鹏(1985-)，男，教授，博士。主要研究方向为机器人技术。E-mail：supeng@bistu.edu.cn
第一作者:刘征(2000-)，男，硕士研究生。主要研究方向为康复工程、机械设计。E-mail：2022020105@bistu.edu.cn
基金资助:
国家自然科学基金(52005045);民政部康复领域重点实验室及工程技术研究中心运行费项目(102118170090010009004)

Design and characterisation of a dual-branched chain turning assist device

LIU Zheng¹(), PAN Guoxin², YAO Pengzhen¹, LIU Tian¹^,², SU Peng¹()

¹ School of Electromechanical Engineering, Beijing Information Science and Technology University, Beijing 100192, China
² National Research Center for Rehabilitation Technical Aids, Beijing Key Laboratory of Rehabilitation Technical Aids for Old-Age, Key Laboratory of Neuro-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Beijing 100176, China

Received:2024-10-25 Accepted:2025-03-10 Published:2025-10-30 Online:2025-09-10
First author：LIU Zheng (2000-), master student. His main research interests cover rehabilitation engineering, mechanical design. E-mail：2022020105@bistu.edu.cn
Supported by:
National Natural Science Foundation of China(52005045);Ministry of Civil Affairs Rehabilitation Field Key Laboratory and Engineering Technology Research Center Operating Expenses Project(102118170090010009004)

摘要/Abstract

摘要：

定期侧翻是长期卧床患者预防压疮的重要护理措施，现有侧翻辅助装置机械式结构刚性较大，未考虑人体侧翻运动机理，充气式存在人体关节转动中心和机构转动中心不一致，易导致患者在侧翻过程中受伤，因此，研究人机运动协同的仰卧位侧翻辅助装置设计具有十分重要的意义。依据人体侧翻运动机理的研究基础，设计了一种由平面连杆机构驱动双支链结构的侧翻辅助装置，主要受力位置为肩部和臀部，通过建立数学模型并推导设计参数，利用图解法分析连杆传动角，同时进行装置的运动学仿真、工作空间分析与人体侧翻重心轨迹提取实验，对整体装置进行运动学图形表征分析。结果表明：辅助人体侧翻角度为30°~45°，该角度范围内人体与双支链接触应力分布较为均匀，有助于预防压疮。机构传动角范围为42.19°~90.00°，该角度范围机构具有良好的传力性能。研究验证了装置设计的合理性，双支链结构能够拟合肩部和臀部的运动过程，提供多段式支撑链接触，避免局部压力集中，符合人-机协同性与人机工程学的康复辅具设计要求，为侧翻康复研究奠定了基础。

关键词: 侧翻辅助, 人体重心运动轨迹分析, 双支链结构, 运动学图形表征分析, 机构构型

Abstract:

Regular turning is a critical nursing measure for preventing pressure ulcers in long-term bedridden patients. Existing mechanical turning-assist devices exhibit excessive structural rigidity without considering human turning biomechanics, while inflatable types demonstrate misalignment between the human joint rotation center and the mechanism rotation centers, potentially causing injuries during turning procedures. Therefore, researching supine turning-assist devices with human-mechanical movement synergy holds significant importance. Based on the research foundation of human turning kinematics, a dual-branch chain turning-assist device driven by a planar linkage mechanism is designed, and the main stress positions are the shoulder and hip regions. The mathematical model is established and the design parameters are deduced. The linkage transmission angle is analyzed using graphical methods, and at the same time, the kinematic simulation of the device, the workspace analysis and the experiments on extraction of the human turning center of gravity trajectory are performed, so as to carry out a kinematics graphic. This comprehensive approach enabled kinematic characterization of the entire device. The results show that the angle of assisting the human body to turning angles of 30°~45°, maintaining uniform contact stress distribution between human body and dual-branch chains, effectively preventing pressure ulcers.. The transmission angles range from 42.19° to 90.00°, and the mechanism has good force transmission efficiency in this angle range. This study verified the rationality of the device design. The dual- branch chain structure can fit the motion process of the shoulder and hip, provide multi-segment support chain contact, prevent localized pressure concentration, and meet the human-machine coordination principles and ergonomic requirements for rehabilitation aids. These findings establish a foundation for turning rehabilitation research and clinical application of assistive devices.

Key words: roll-over assist, human center of gravity trajectory analysis, dual-branched chain structure, kinematic graphical representations analysis, organizational configuration

中图分类号:

TH789

刘征, 潘国新, 姚鹏震, 刘甜, 苏鹏. 双支链式侧翻辅助装置机构设计与运动学图形表征分析[J]. 图学学报, 2025, 46(5): 1094-1104.

LIU Zheng, PAN Guoxin, YAO Pengzhen, LIU Tian, SU Peng. Design and characterisation of a dual-branched chain turning assist device[J]. Journal of Graphics, 2025, 46(5): 1094-1104.

图/表 20

图1 双支链式侧翻辅助装置整体模型

Fig. 1 Integral model of double branched chain type rollover assist device

图2 摆动导杆机构简图

Fig. 2 Oscillating guide bar mechanism sketch

图3 剪叉机构初始位置简图

Fig. 3 Sketch of the initial position of the shear mechanism

图4 支链运动学模型

Fig. 4 Branched chain kinematics model

表1 辅助侧翻支链D-H参数表

Table 1 Data sheet of auxiliary side-rotation support chain D-H

坐标系变换	a_i_-1/mm	θ_j
M₀~M₁	0	0
M₁~M₂	a₁	θ₂
M₂~M₃	a₂	θ₃
M₃~M₄	a₃	θ₄
M₄~M₅	a₄	0

图5 传动角变化简图

Fig. 5 Transmission angle variation sketch

图6 传动角角度变化图

Fig. 6 Transmission angle angle change chart

图7 肩部侧翻辅助支链轨迹图

Fig. 7 Trajectory diagram of shoulder rollover assisted pivot chain

图8 臀部侧翻辅助支链轨迹图

Fig. 8 Trajectory diagram of the hip lateral rotation assisted pivot chain

图9 肩部侧翻辅助支链误差分析图

Fig. 9 Error analysis diagram for shoulder lateral rotation assisted strut chain

图10 臀部辅助支链误差分析图

Fig. 10 Hip-assisted branched chain error analysis plot

图11 角速度仿真曲线图

Fig. 11 Angular velocity simulation graph

图12 角加速度仿真曲线图

Fig. 12 Angular acceleration simulation graph

表2 各个支链间运动范围参数

Table 2 Parameters for the range of motion between individual strands

支链名称	关节变量	变量范围/(°)
肩部	γ₁	0~40
肩部	γ₂	0~40
臀部	γ₃	0~36
	γ₄	0~12
	γ₅	0~36

图13 侧翻支链工作空间((a) 肩部三维工作空间；(b) 臀部三维工作空间)

Fig. 13 Side-turning support chain workspace ((a) Shoulder 3D workspace; (b) Hip 3D workspace)

图14 工作空间投影图((a) 肩部x-z面上工作空间；(b) 臀部x-z面上工作空间)

Fig. 14 Workspace projection map ((a) Workspace on shoulder x-z plane; (b) Workspace on the x-z plane of the hip)

图15 双支链式侧翻辅助装置实验台

Fig. 15 Double branched chain type rollover assist device test bench

图16 双支链辅助侧翻实验图

Fig. 16 Experimental diagram of double branched chain assisted rollover

图17 人体重心运动轨迹曲线

Fig. 17 Human center of gravity trajectory curve

图18 人体重心运动轨迹变化误差

Fig. 18 Error of human center of gravity trajectory change

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双支链式侧翻辅助装置机构设计与运动学图形表征分析

Design and characterisation of a dual-branched chain turning assist device

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