Optimization of Structural Parameters and Mechanical Performance Analysis of a Novel Redundant Actuation Rehabilitation Training Robot

作     者：Wu, Junyu Wang, He Liu, Yubin Man, Zhuoqi Yang, Xiaofan Cao, Xuanming Cai, Hegao Zhao, Jie 

作者机构：Harbin Inst Technol State Key Lab Robot Technol & Syst Harbin 150001 Peoples R China Harbin Engn Univ Coll Intelligent Syst Sci & Engn Harbin 150001 Peoples R China 

出 版 物：《BIOMIMETICS》 (Biomimetics)

年 卷 期：2025年第10卷第4期

核心收录：

基　　金：National Key R&D Program (Ministry of Science and Technology of the People's Republic of China [2019YFB1311400] National Key R&D Program (Ministry of Science and Technology of the People's Republic of China) 

主　　题：dynamic simulation performance analysis rehabilitation training robot redundant structure structure parameter optimization 

摘      要：The integration of redundant structures into robotic systems enhances the degrees of freedom (DOFs), flexibility, and capability to perform complex tasks. This study evaluates the mechanical performance of a 9-DOF series-parallel hybrid redundant device designed for rehabilitation training of patients with balance disorders. The redundant structural design improves the robot s movement flexibility, optimizes load distribution, and mitigates stress concentration in local joints or components. To optimize the robot s overall structural parameters and reduce joint driving forces, a genetic algorithm (GA) was employed. A custom dataset was created by collecting motion-related data, including foot posture and position. The robot s mechanical characteristics were comprehensively analyzed, followed by simulation experiments. The results demonstrate that incorporating the redundant structure, along with the optimization of structural parameters, significantly enhances the robot s mechanical performance. This study provides a solid foundation for the functional development and control system design of rehabilitation robots, extending the capabilities of existing systems and offering a novel, reliable, and efficient therapeutic tool for patients with balance disorders.