可穿戴式上肢康复机器人运动学计算和仿真  

Kinematics Calculation and Simulation of Wearable Upper Limb Rehabilitation Robot

作　　者：郭建 廖泰明 郑兴强 GUO Jian;LIAO Taiming;ZHENG Xingqiang(School of Mechanical Engineering,Guangzhou City University of Technology,Guangzhou Guangdong 510800,China)

机构地区：[1]广州城市理工学院机械工程学院,广东广州510800

出　　处：《机床与液压》2023年第3期78-84,共7页Machine Tool & Hydraulics

基　　金：2021广东省科技创新战略专项项目(pdjh2021b0671);广东省普通高校青年创新人才项目(2019KQNCX212);华南理工大学广州学院优秀骨干教师项目(52-CQ18YG22)。

摘　　要：为了满足脑卒中患者日常需求,更好地进行康复训练,设计一款可穿戴式的上肢康复机器人。通过SolidWorks结合人体上肢结构进行整机结构设计,运用MATALB建立起上肢康复机器人的数学模型并进行运动学分析,得出上肢康复机器人各个关节的旋转角度关系,再进行数据验证和可达空间位置分析。验证和分析结果可以满足患者的日常需求。基于五次多项式插值算法对上肢康复机器人进行“取杯子”任务的轨迹规划和模拟仿真,仿真结果满足设定要求,可为患者提供良好的康复训练。同时计算和仿真数据为康复机器人运动控制提供数据支持。In order to meet the daily needs of stroke patients and perform rehabilitation training better, a wearable upper limb rehabilitation robot was designed.Through SolidWorks combined with the structure of human upper limb, the whole machine structure design was carried out, and the mathematical model of the upper limb rehabilitation robot was established by using MATALB and kinematic analysis was performed.The rotation angle relationship of each joint of the upper limb rehabilitation robot was obtained, and then data verification and reachable space position analysis were performed.The validation and analysis results can meet the daily needs of patients.The trajectory planning and simulation of the “cup taking” task of the upper limb rehabilitation robot were carried out based on the fifth-degree polynomial interpolation algorithm.The simulation results meet the set requirements and can provide patients with good rehabilitation training.At the same time, the calculation and simulation data provide data support for the motion control of the rehabilitation robot.

关 键 词：上肢康复机器人 运动学分析 轨迹规划 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH11[自动化与计算机技术—控制科学与工程]