一种六自由度上肢康复机器人的结构设计及运动学分析  

Structure design and analysis of kinematics of a 6-DOF upper-limbed rehabilitation robot

作　　者：曹电锋[1] 杨启志[1] 庄佳奇[1] 姚斌斌[1] 

机构地区：[1]江苏大学机械工程学院智能机器人研究所,江苏镇江212013

出　　处：《工程设计学报》2013年第4期338-343,共6页Chinese Journal of Engineering Design

基　　金：国家自然科学基金资助项目(50905077);教育部高校博士点基金SRFDP资助项目(20093227120007);江苏省博士后基金资助项目(0901010B)

摘　　要：为解决现有上肢康复机器人功能单一以及结构复杂的问题,提出了一种6-DOF外骨骼式上肢康复机器人,建立了康复机器人的运动学模型,通过D-H变换对其正向运动学和逆向运动学进行求解.运用Pro/E对康复机器人进行三维建模,通过Mechanism/Pro导入ADAMS/view中进行运动学仿真,得到机器人末端位移的仿真曲线和理论曲线一致,验证了理论推导的正确性,进一步仿真结果证明该方案具有较好的运动特性.In order to solve the problems that the exiting upper-limbed rehabilitation robot has sole function and complicated structure, a 6-DOF exoskeleton upper-limbed rehabilitation robot is put forward according to the structure of upper limb of the human body. The kinematics model of the rehabilitation robot was established, and kinematics positive and inverse solutions were solved by D-H transformation. Three dimensional model of the rehabilitation robot was created by Pro/E and was imported into ADAMS/view for the kinematics simulation by Mechanism/Pro. The obtained simulation position curves are consistent with the theoretical position curves, verif- ying the correctness of the theoretical derivation. Further results of the simulation proves the smooth movement characteristics of the scheme.

关 键 词：外骨骼 康复机器人 运动学 仿真 

分 类 号：TH122[机械工程—机械设计及理论]