五自由度上肢康复机器人设计与分析  

Design and Analysis of Five Degrees of Freedom Upper Limb Rehabilitation Robot

作　　者：曹俣帅 CAO Yushuai(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232000,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232000

出　　处：《科技创新与生产力》2024年第4期104-106,109,共4页Sci-tech Innovation and Productivity

基　　金：教育部协同育人项目(202101054003);安徽理工大学研究生核心课程项目(2021HX013)。

摘　　要：针对由脑卒中、脊髓损伤等造成的上肢运动功能减退、需康复的问题,设计了一款基于人体上肢尺寸的可穿戴式五自由度上肢康复机器人。使用改进的D-H参数法,建立了其运动学模型,结合数字仿真软件的机器人工具箱,验证了其模型的正确性;利用蒙特卡罗法得到机器人的工作空间云图,通过与各关节运动范围进行对比,验证了其工作范围的合理性。最后运用五次多项式插值法对其进行轨迹规划,获得了各个关节角的角度、速度、加速度的平稳曲线图。实验结果验证了上肢康复机器人结构设计的正确性和整个康复训练过程的可行性。Aiming at the problems of upper limb motor function decline caused by stroke and spinal cord injury and the need for rehabilitation,a wearable five-degree-of-freedom upper limb rehabilitation robot based on the size of human upper limb was designed.The kinematic model is established by the improved D-H parameter method,and the correctness of the model is verified by the robot toolbox of digital simulation software.Monte Carlo method was used to obtain the working space cloud map of the robot,and the rationality of its working range was verified by comparing with the motion range of each joint.Finally,the trajectory is planned by the quintic polynomial interpolation method,and the stationary curves of each joint Angle,velocity and acceleration are obtained.The experimental results verify the correctness of the structural design of the upper limb rehabilitation robot and the feasibility of the whole rehabilitation training process.

关 键 词：上肢康复机器人 五自由度 改进的D-H参数法 运动学分析 仿真分析 工作空间 轨迹规划 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]