六自由度上肢康复机器人运动学分析及轨迹规划  

Kinematics Analysis and Trajectory Planning of a Six-degree-of-freedom Upper Limb Rehabilitation Robot

作　　者：马晓君[1] 刘训报 贾秋生 刘德胜[2] 袁铭润 刘玉阳 MA Xiaojun;LIU Xunbao;JIA Qiusheng;LIU Desheng;YUAN Mingrun;LIU Yuyang(Jiamusi University,School of Mechanical Engineering,Jiamusi 154007,China;Jiamusi University,School of Information and Electronic Technology,Jiamusi 154007,China;Harbin Bearing Group Co.,Ltd.,Harbin 150002,China)

机构地区：[1]佳木斯大学机械工程学院,黑龙江佳木斯154007 [2]佳木斯大学信息电子技术学院,黑龙江佳木斯154007 [3]哈尔滨轴承集团有限公司,哈尔滨150002

出　　处：《机械工程师》2023年第9期1-5,共5页Mechanical Engineer

基　　金：黑龙江省重点应用研发项目(GY2019YF0155);黑龙江省卫生健康委科研课题(20212020010007);黑龙江省教育厅基本科研业务费基础研究项目(2020-KYYWF-0261)。

摘　　要：针对脑卒中患者如何进行上肢康复训练问题,设计一款可穿戴式六自由度的上肢康复机器人。首先根据上肢骨骼的结构分析,利用SolidWorks设计出六自由度上肢康复机器人三维模型。其次建立上肢康复机器人D-H坐标系计算出末端位置坐标,在Adams中设置驱动函数对上肢肩、肘、腕关节进行模拟运动。最终使用Matlab机器人工具箱对上肢康复机器人进行五次多项式轨迹规划,验证了设计合理性。结论表明所设计的六自由度上肢康复机器人具有康复训练的效果。Aiming at the problem of how to perform upper limb rehabilitation training for stroke patients,a wearable upper limb rehabilitation robot with six degrees of freedom is designed.Firstly,according to the structural analysis of the upper limb bones,a three-dimensional model of the six-degree-of-freedom upper limb rehabilitation robot is designed using SolidWorks.Secondly,the D-H coordinate system of the upper limb rehabilitation robot is established to calculate the end position coordinates,and the driving function is set in Adams to simulate the movement of the shoulder,elbow and wrist joints of the upper limb.Finally,the quintic polynomial trajectory planning of the upper limb rehabilitation robot is carried out using the Matlab robot toolbox,which verifies the rationality of the design.The conclusion shows that the designed six-degree-of-freedom upper limb rehabilitation robot has the effect of rehabilitation training.

关 键 词：上肢康复机器人 D-H坐标系 ADAMS 轨迹规划 康复训练 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]