五自由度上肢康复机械手臂的运动学分析  

Kinematics analysis of the 5-DOF rehabilitant mechanical arm

作　　者：吕广明[1] 孙立宁[1] 张博 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2006年第5期698-701,共4页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(863-2003AA404060)

摘　　要：针对五自由度上肢康复机械手臂,建立了机械手臂位置运动学方程的正解及雅戈比矩阵,并应用ADAMS对其进行了仿真分析,确定机械手臂在任意时刻的位置及速度,分析机械手臂各机构之间的位置及运动关系,为实际的医疗康复及机构的智能控制控制提供了重要数据.The rehabilitating robot is one of the focus-researching projects at present. The solutions of the mechanical arm＇s kinematics equation as well as the Jacobin matrix were set up according to the 5 -DOF rehabilitant mechanical arm. It also utilized the method of ADAMS to simulate and make sure the positions and speeds of the mechanical arm at any time and the relation between each part within the arm. It offered important data for the actual intellective control of rehabilitating robot.

关 键 词：康复机器人 机械手臂 运动学分析 ADAMS仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]