基于插值时间相同的4-1-4样条插值的机器人轨迹规划  

ROBOT TRAJECTORY PLANNING BASED ON 4-1-4 SPLINE INTERPOLATION WITH THE SAME INTERPOLATION TIME

作　　者：熊睿洋 贾剑平[1] 胡瑢华[1] 袁新亮 郭福民 XIONG RuiYang;JIA JianPin;HU RongHua;YUAN XinLiang;GUO FuMin(School of Mechanical and Electrical Engineering,Nanchang University,Nanchang 330000,China)

机构地区：[1]南昌大学机电工程学院,南昌330000

出　　处：《机械强度》2020年第5期1254-1260,共7页Journal of Mechanical Strength

基　　金：江西省优势科技创新团队建设计划项目(20171BCB24001)资助。

摘　　要：设计一种新型的5-DOF上肢外骨骼康复机器人,首先分析了该机器人的机械结构,基于D-H参数法建立了该机器人的D-H坐标,根据其坐标求出了其正,逆运动学方程。为了使病患的康复训练具有舒适性和平稳性,提出了一种基于相同时间插值点的用四次多项式过渡的线性插值函数,用来规划上肢外骨骼康复机器人的轨迹。最后进行了单个和多个关节的轨迹规划,并通过求出的正运动学方程和插值函数作出末端位移、速度和加速度的图像,并在Adams中对用1:1模型建立的上肢外骨骼康复机器人进行实体仿真,来验证此方法的正确性和可行性。通过对单关节和多关节轨迹规划参数的分析,然后将其结果与Adams中的仿真数据进行对比,证明了该方法的可行性和稳定性,可以被用在康复机器人的轨迹规划中。A new type of upper extremity exoskeleton rehabilitation robot is designed,which have 5-degree of freedom.Firstly,the mechanical structure of the robot is analyzed.D-H coordinates of the robot are established based on D-H parameter method.According to its coordinates,its kinematics equation is obtained.In order to make the rehabilitation training in patients with comfort and stability,point out a linear interpolation function of quartic polynomial that based on the same time interpolation points,the purpose is to plan the trajectory of the upper limb exoskeleton rehabilitation robot.Finally,trajectory planning of multiple joints and drawing images are carried out.In ADAMS,the upper extremity exoskeleton rehabilitation robot based on 1:1 model is simulated to verify the correctness of the function.By Analysing of trajectory planning parameters for single and multiple joints,then the results are compared with the simulation data in ADAMS to prove the feasibility and stability of this method,which can be used in the trajectory planning of rehabilitation robot.

关 键 词：D-H参数法 正/逆运动学 四次多项式 线性插值 ADAMS仿真 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]