7-DOF外骨骼式上肢康复机器人整机静态误差分析  

Static error analysis of 7-DOF exoskeleton upper limb rehabilitation robot

作　　者：杨启志[1,2] 汪志焕 宋俊鹏[3] 赵金海[3] 郭林强[3] 

机构地区：[1]江苏大学农业装备工程学院,江苏镇江212013 [2]中国科学院沈阳自动化所机器人学国家重点实验室,辽宁沈阳110000 [3]江苏大学机械工程学院,江苏镇江212013

出　　处：《江苏大学学报（自然科学版）》2015年第3期301-305,共5页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(50905077);机器人学国家重点实验室开放课题项目(2013-O008)

摘　　要：静态误差分析在7-DOF外骨骼式上肢康复机器人的设计、制造、装配中起着关键的作用,其结果影响着尺寸参数的选择和优化.对7-DOF外骨骼式上肢康复机器人末端运动规律进行了探究,通过理论计算得到末端位姿误差表达式,然后利用控制变量法来研究长度误差和角度误差对位姿的影响.借助MATLAB绘制出末端位姿误差曲线.经过比较分析发现角度误差比长度误差对康复机器人末端的位姿精度影响更大,所以在保证长度精度的同时尽可能提高角度的精度,从而减少加工成本和降低造成二次伤害的风险.Static error analysis plays a significant role on design,manufacturing and assembly of 7-DOF exoskeleton upper limb rehabilitation robot. The result of static error analysis usually affects the choice of measurement and optimization. The end movement of 7-DOF exoskeleton upper limb rehabilitation robot was investigated. The expression of terminal position and orientation error was obtained by theoretical calculation,and control variate method was applied to investigate the influences of length error and angle error. The terminal position and orientation error curve was drawn by MATLAB. The comparison analysis shows that angle error has more enormous impact than that of length error on terminal position and orientation accuracy. The angle accuracy should be pledged as high as possible for reducing processing cost and lessening risk of secondary injury.

关 键 词：康复机器人 串联机构 静态误差分析 MATLAB仿真 位姿 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]