五自由度上肢康复机器人动力学建模及仿真  

Dynamic Modeling and Simulation of 5-DOF Upper-limb Rehabilitation Robot

作　　者：李醒[1] 王建辉[1] 方晓柯[1] 

机构地区：[1]东北大学信息科学与工程学院,辽宁沈阳110004

出　　处：《控制工程》2012年第5期823-826,831,共5页Control Engineering of China

基　　金：中央高校基本科研业务费专项资金资助;辽宁省科学技术计划项目2010(2010020176-301);沈阳市基金项目2010(F10-205-1-57)

摘　　要：分析了五自由度上肢康复机器人的系统结构,构建出新的系统简化模型,并利用拉格朗日动力学法建立康复机器人简化动力学方程,提出了一类机器人简化建模的新方法。在Matlab中用V-realm Builder工具建立5-DOF上肢康复机器人三维虚拟仿真模型并进行虚拟仿真。仿真结果表明,简化的动力学模型在康复机器人控制中应用效果良好,理论响应曲线与实际响应曲线误差较小。该方法建模过程简单、快捷、有效,适合现代计算技术的发展,为康复机器人系统的优化设计及运动控制提供了理论依据。Based on analyzing the system structure of 5-DOF upper-limb rehabilitation robot in detail, a new simplified system model and a dynamic equation for the rehabilitation robot according to Lagrange equation is established, proposed a class of new method of sim- plified modeling for the robot. In. the MATLAB, 3D model was established by V-realm Builder and the virtual reality simulation was made to rehabilitation robot. The simulation results show, simplified dynamic model has a good effect in the rehabilitation robot control and response curve error is small. So the process of modeling is simple, fast, effective and is suitable to the development of modem cal- culation technology. It can offer.theory basis to the optimal design and motion control theoretically for 5-DOF upper-limb rehabilitation robot.

关 键 词：五自由度上肢康复机器人 拉格朗动力学方程 简化模型 虚拟仿真 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]