摘要
针对上肢功能障碍患者的自主康复训练问题,在对现有康复机器人研究方案的深度剖析的基础上,为简化机构降低成本,提出了一种基于气缸驱动的2自由度上肢康复机器人.首先在SolidWorks建立上肢康复机器人的整体模型,通过D-H分析法建立坐标系,求得系统正运动的参数方程,利用Matlab对该机器人末端机构的位置进行分析,其次运用雅克比矩阵求解末端执行器的速度,结合ADAMS对建立的上肢康复机器人模型进行运动学仿真分析,最后在ANAYS中对大臂支撑件和小臂支撑件进行静力学分析.研究结果表明,该上肢康复机器人机构在简化结构后,仍然能保证康复训练的可行性,为上肢机器人的推广使用提供了理论参考.
In the report, aiming at the problem of autonomous rehabilitation training for patients with upper limb dysfunction, based on the in-depth analysis of the study of existing rehabilitation robot, a 2 degrees of freedom upper limb rehabilitation robot based on pneumatic cylinder was proposed to simplify the mechanism and reduce the cost. Firstly, the whole model of upper limb rehabilitation robot was established based on SolidWorks, the D-H method was used to establish a coordinate system, the parametric equations of the system’s forward kinematics was obtained, and MATLAB was used to analysis the position of the end of the robot mechanism;Secondly, the Jacobi matrix was used to solve the speed of the end executor, and which was combined with ADAMS for the kinematics simulation analysis;Lastly, the static analysis was carried out on the supports of the lager arm and small arm. The results indicated that the upper limbs rehabilitation robot mechanism still can guarantee the feasibility of rehabilitation training after simplifying the structure, and provide a theoretical reference for the wide use of upper limb robot.
作者
白颖
蒋庆斌
莫莉萍
孙超
Bai Ying;Jiang Qingbin;Mo Liping;Sun Chao(Changzhou Institute of Mechatronic Technology,Changzhou 213164,China;College of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China)
出处
《海南大学学报（自然科学版）》
CAS
2019年第4期351-358,共8页
Natural Science Journal of Hainan University
基金
江苏省青蓝工程工业机器人技术优秀教学团队项目(JSQL2017016)
江苏省高职院校教师专业带头人高端研修项目(2019)
关键词
上肢康复机器人
D-H法
运动学分析
有限元分析
upper limb rehabilitation robot
D-H method
kinematics simulation
finite element analysis
