两肢通用型上肢康复机器人系统设计与研究  

System Design and Research of Two Limb Universal Upper Limb Rehabilitation Robot

作　　者：刘玉博 王经坤[1] 陈蕾 林明星[1,2] LIU Yu-bo;WANG Jing-kun;CHEN Lei;LIN Ming-xing(School of Mechnical Engineering Shandong University,Shandong Jinan 250061,China;Key Laboratory of High-efficiency and Clean Mechanical Manufacture,Ministry of Education,Shandong Ji’nan 250061,China)

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]高效洁净机械制造教育部重点实验室,山东济南250061

出　　处：《机械设计与制造》2023年第10期254-257,共4页Machinery Design & Manufacture

基　　金：山东省重点研发计划(公益类专项)(2017GGX30103)。

摘　　要：随脑卒中等上肢运动功能障碍患者逐渐增多,上肢康复机器人的应用越来越广泛。针对现有上肢康复机器人存在质量较大、结构不紧凑、人机融合性差、移动不便以及仅适用于单侧肢体康复等问题,设计了一种满足左右两肢康复的通用型外骨骼上肢康复机器人。首先对上肢康复机器人整体结构采用SOLIDWORKS进行建模;其次围绕上肢康复机器人控制系统,阐述了机器人基于CAN总线的软硬件系统开发;最后,为验证设计的准确性,使用ADAMS进行了运动学和动力学仿真,加工出实物样机,进行多种模式的康复训练实验。实验结果表明:所设计上肢康复机器人可满足患者康复训练需求。With the increasing number of patients with stroke and other upper limb motor dysfunction,the application of upper limb rehabilitation robot is more and more widely.Aiming at the problems of the existing upper limb rehabilitation robots,such as large mass,compact structure,poor human-computer integration,inconvenient movement and only suitable for unilateral limb rehabilitation,A kind of universal exoskeleton upper limb rehabilitation robot is designed to satisfy the rehabilitation of left and right limbs.Firstly,the whole structure of the upper limb rehabilitation robot is modeled by SOLIDWORKS;secondly,the devel-opment of the software and hardware system of the robot based on CAN bus is described around the control system of the upper limb rehabilitation robot;finally,in order to verify the accuracy of the design,kinematics and dynamics simulation are carried out by using ADAMS,and the physical prototype is processed for rehabilitation training experiment of various modes.The experi-mental results show that:the upper limb rehabilitation robot can meet the rehabilitation training needs of patients.

关 键 词：上肢康复机器人 Solidworks建模 CAN总线 仿真 康复训练 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]