基于旋量理论的5-DOF上肢康复机器人雅克比矩阵求解  

Calculation of jacobin matrix of a 5-DOF upper limb rehabilitation robot based on screw theory

作　　者：兰陟[1] 李振亮[1] 李亚[1] 

机构地区：[1]天津科技大学机械工程学院,天津300222

出　　处：《机械设计》2011年第5期51-53,74,共4页Journal of Machine Design

摘　　要：提出一种新型5自由度上肢康复机器人,以旋量理论为工具推导出了该机器人的雅克比矩阵。并应用AD-AMS对其进行了运动学仿真分析,在给定各关节速度的条件下,确定了末端执行器速度。最后把用雅克比矩阵求得的末端执行器的速度与仿真结果对比,验证了雅克比矩阵求解的正确性。为实际的康复机器人的速度控制提供了依据。For a novel 5-DOF upper limb rehabilitation robot presented in this paper,the characteristics of the rehabilitation robot＇s Jacobin matrix of the robot was calculated by applying screw theory as the tool,and the kinematics simulation analysis was carried out by applying ADAMS.Under conditions that the velocity of each joint has been given,the velocity of robot end effector was determined.Finally,the correctness of jacobin matrix solution is verified by comparing the simulation results with the calculated velocity of the end effector,offering a basis for the actual velocity control of the rehabilitation robot.

关 键 词：康复机器人 旋量理论 雅克比矩阵 指数积 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]