末端牵引式上肢外骨骼结构设计与运动学分析  

End traction upper limb exoskeleton structure design and kinematics analysis

作　　者：张凤鑫 孙振兴[2] ZHANG Fengxin;SUN Zhenxing(Faculty of Mechanical and Power Engineering,Nanjing Tech University,Nanjing 211816,China;College of Electrical Engineering and Control Science,Nanjing Tech University,Nanjing 211816,China)

机构地区：[1]南京工业大学机械与动力工程学院,南京211816 [2]南京工业大学电气与控制科学学院,南京211816

出　　处：《现代制造工程》2024年第2期120-127,158,共9页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(61903186)。

摘　　要：针对上肢外骨骼关节互联性较差、智能化水平低、本体尺寸较大及制造成本较高等缺点,设计了一种结构简单、价格低廉且可批量定制的新型桌面式三自由度末端牵引式上肢外骨骼。首先,根据患者的康复功能需求,结合人体上肢的尺寸进行整体的结构设计;其次,使用有限元仿真软件Ansys Workbench对关键零/部件进行静力学仿真,优化零件刚度、强度及尺寸,从而验证外骨骼材料及尺寸的合理性;然后采用Denavit-Hartenberg(D-H)参数法建立坐标系,推导了正运动学并对末端位姿工作空间进行求解,并绘制了工作空间点云图;最后,使用Adams软件对末端牵引式上肢外骨骼进行了运动学分析。结果表明,末端牵引式上肢外骨骼结构设计合理,能够满足上肢运动功能障碍患者的康复训练要求。For the shortcomings of the upper limb exoskeleton interconnection,low intelligence level,large ontology size,and high manufacturing costs,a new desktop three degrees of freedom end traction upper limb exoskeleton robot with simple structure,low price,and mass customization was designed.First of all,according to the patient′s rehabilitation function requirements,the overall structure design was carried out in combination with the size of the upper limbs of the human body.Secondly,the finite element simulation software Ansys Workbench to perform static simulation on key parts,optimize the stiffness,strength and size of the parts,so as to verify the rationality of the material and size of the exoskeleton.Then the Denavit-Hartenberg(D-H)parameter method was used to establish a coordinate system,derives the orthodox motion and solve the work space of the end position,and draws the work space point cloud chart.Finally,the kinematics analysis of the end traction upper limb exoskeleton was carried out using Adams software.The results show that the structure design of the end traction upper limb exoskeleton is reasonable and can meet the rehabilitation training requirements of patients with upper limb motor dysfunction.

关 键 词：末端牵引式上肢外骨骼机器人 三自由度 结构设计 静力学仿真 运动学仿真 康复训练 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]