五自由度康复机械手臂的设计  

Design of 5DOF convalescent mechanical arm

作　　者：车仁炜[1] 吕广明[1] 孙立宁[1] 

机构地区：[1]哈尔滨工业大学机电学院,黑龙江哈尔滨150001

出　　处：《机械设计》2005年第4期18-21,共4页Journal of Machine Design

基　　金：黑龙江省自然科学基金资助项目(F01-23);哈尔滨工业大学跨学科交叉基金资助项目(HTT.MD 2000.17)

摘　　要：在对现有上肢康复设备和上肢康复治疗分析的基础上,设计研究了一种五自由度康复机械手臂,给出了各部分工作原理及运动特性,对主要部件的承载能力进行了验算,设计选择了驱动系统。对机械臂进行了动力学仿真,证明了该设计可以满足预设动作要求,提高人体康复进程。On the basis of analyzing the now existed convalescent appliance and convalescent cure of upper limb, a kind of 5DOF convalescent mechanical arm was being designed and studied. The working principle and moving characteristics of each part were presented; the checking computation was carried out on the load bearing capacity of the main components, and the driving system was chosen and designed. Dynamics simulation was carried out on the mechanical arm, and thus proved that this design could satisfy the requirements of the fore-set movement and enhanced the convalescent course of human body.

关 键 词：上肢康复 机械手臂 动力学仿真 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]