手臂康复机器人的动力学分析  

Dynamics analysis on arm health recovery robot

作　　者：杨勇[1] 张立勋[1] 王岚[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机械设计》2007年第11期27-28,37,共3页Journal of Machine Design

基　　金：国家自然科学基金资助项目(60575053);国际科技合作资助项目(WC03113)

摘　　要：介绍的手臂康复训练机器人可用于因受外伤或疾病造成的手臂运动障碍患者。它可以实现水平面和竖直面的轨迹运动,具有主动和阻尼2种工作模式,能够对肩关节、肘关节进行训练。分析了机器人的结构及其动力学模型,将人的手臂简化为圆台型刚体,关节简化为绕固定轴转动的回转关节,采用Matlab/Simulink的Mechanics构建了包括康复训练机器人和人的手臂在内的整个康复训练系统的动力学模型,仿真结果验证了动力学模型的有效性。The being introduced arm health recovery training robot can be used for sufferers with obstructions on arm movement caused by injury or disease. It might achieve track movements along horizontal and vertical planes with two kinds of initiative and dam ping working mode and could carrying through training on shoulder joint and elbow joint. The structure of robot and its dynamics model were studied. Let the human ann be simplified as a truncated cone typed rigid body and the joint was being simplified as a rotary joint that could turn around a fixed axle. By adopting the Mechanics of Matlab/Simulink, the dynamics model was constructed for the entire health recovery training system including the health recovery training robot and the human arm. The result of simulation verified the effectiveness of the dynamics model.

关 键 词：手臂训练 康复机器人 动力学 仿真 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]