艾灸辅助机器人的运动学分析与仿真  

Kinematics analysis and simulation of moxibustion assistant robot

作　　者：乐文辉 熊根良[1] LE Wenhui;XIONG Genliang(School of Mechatronics Engineering,Nanchang University,Nanchang 330031,China)

机构地区：[1]南昌大学机电工程学院,江西南昌330031

出　　处：《南昌大学学报（工科版）》2020年第1期57-63,共7页Journal of Nanchang University(Engineering & Technology)

基　　金：国家自然科学基金地区基金资助项目(61763030)。

摘　　要：传统的人工艾灸治疗方法定位精度差,对医师的体能要求高,治疗过程艾烟弥漫并存在烫伤风险。因此,结合机器人技术,设计了一款4-DOF的艾灸辅助机器人。通过D-H参数法建立机器人坐标系,并计算机器人模型的正、逆运动学。利用MATLAB中的Robotics Toolbox建立机器人模型并进行仿真,得到机器人末端的位移、轨迹图以及各关节的角度、角速度、角加速度变化曲线。结果表明机器人在仿真过程中没有出现冲击或卡顿现象,运动学性能良好,验证了机器人模型的合理性。The traditional manual moxibustion therapy has poor positioning accuracy,high physical requirement for doctors,diffuse smoke and scald risk during the treatment process.Therefore,a 4-DOF moxibustion assistant robotwasdesigned based on robot technology.The coordinate system of the robot was established by D-H parameter method,and the forward and inverse kinematics of the robot were calculated.The robot model was built and simulated with the Robotics Toolbox in MATLAB,and the displacement and trajectory diagram of the robot end,as well as the Angle,angular velocity and angular acceleration change curves of each joint were obtained.The results showed that there was no impact or jam in the simulation process of the robot,and the kinematic performance was good,which verifies the rationality of the robot model.

关 键 词：艾灸机器人 运动学分析 D-H参数法 计算机仿真 

分 类 号：TH123[机械工程—机械设计及理论]