학술논문
一种混合驱动的上肢康复外骨骼机器人设计 / Design of a Hybrid-driven Upper Limb Rehabilitation Robot
Document Type
Academic Journal
Author
Source
佳木斯大学学报（自然科学版） / Journal of Jiamusi University(Natural Science Edition). 42(1):72-76
Subject
Language
Chinese
ISSN
1008-1402
Abstract
针对现有上肢康复外骨骼机器人的驱动问题,设计一种混合驱动的上肢康复外骨骼机器人,肩关节由电机直接与关节相连驱动,肘关节与腕关节由电机与绳索配合驱动.按照人体上肢解剖学结构设计出外骨骼机器人的本体结构和基本属性,分析肘关节运动原理,进行绳驱动关节张力分析,运用D-H法建立机器人的运动学模型,分析正运动学,通过ADAMS软件对机器人进行动力学仿真,运用CUBSPL函数作为驱动得出各关节的力矩变化,为后面各个关节电机的选型提供依据.
Aiming at the driving problem of the existing upper limb rehabilitation exoskeleton ro-bot,this paper design a hybrid-driven upper limb rehabilitation exoskeleton robot,in which the shoul-der joint is driven by a motor directly connected to the joint,and the elbow and wrist joints are driven by a motor in cooperation with a rope.In accordance with the anatomical structure of the human upper limb to design the ontological structure and basic attributes of the exoskeleton robot,analyze the principle of elbow joint movement,rope-driven joint tension analysis,using the D-H method to establish the ro-bot's kinematics model,analyze the positive kinematics.The robot through the ADAMS software for ki-netic simulation,the use of CUBSPL function as a drive to arrive at the torque change of the joints for the back of the individual joint motors to provide a basis for the selection of each joint motor later.
Aiming at the driving problem of the existing upper limb rehabilitation exoskeleton ro-bot,this paper design a hybrid-driven upper limb rehabilitation exoskeleton robot,in which the shoul-der joint is driven by a motor directly connected to the joint,and the elbow and wrist joints are driven by a motor in cooperation with a rope.In accordance with the anatomical structure of the human upper limb to design the ontological structure and basic attributes of the exoskeleton robot,analyze the principle of elbow joint movement,rope-driven joint tension analysis,using the D-H method to establish the ro-bot's kinematics model,analyze the positive kinematics.The robot through the ADAMS software for ki-netic simulation,the use of CUBSPL function as a drive to arrive at the torque change of the joints for the back of the individual joint motors to provide a basis for the selection of each joint motor later.