外骨骼上肢康复机器人动力学分析与仿真研究  

Dynamic Analysis and Simulation Research of Exoskeleton Upper Limb Rehabilitation Robot

作　　者：杜佳乐 张卫锋[1] 王晖 葛国强 DU Jiale;ZHANG Weifeng;WANG Hui;GE Guoqiang(College of Electromechanical Engineering,Qingdao University of Science and Technology,Qingdao 266061,China)

机构地区：[1]青岛科技大学机电工程学院,山东青岛266061

出　　处：《机械制造与自动化》2025年第1期135-142,共8页Machine Building & Automation

摘　　要：针对一种新型外骨骼上肢8自由度康复机器人,介绍其方案设计与动力系统型号选择的理论依据,采用基于机器人系统能量的拉格朗日函数对简化对象建立动力学数学模型。运用Adams进行动力学分析,采用step函数对关节惯性力、加速度进行仿真验证。仿真结果表明:机器人关节动力学理论技术与仿真数据相近,为8自由度数学模型建立提供仿真数据支持,并可在此基础上进行物理样机控制系统及算法的研究,为实验验证提供理论支撑及数据基础。For a new exoskeleton upper limb eight degrees of freedom rehabilitation robot,the theoretical basis for its scheme design and power system model selection is introduced,and a mathematical model of the dynamics of the simplified object is established using the Lagrangian function based on the energy of the robot system.Adams is used for dynamics analysis,and the key inertial forces and accelerations are simulated and verified by using the step function.The simulation results show that the theoretical technique of robot joint dynamics is similar to the simulation data,which provides simulation data support for the establishment of the mathematical model of eight degrees of freedom,and the study of physical prototype control system and algorithm can be carried out on this basis to provide theoretical support and data basis for experimental verification.

关 键 词：上肢康复机器人 动力元件选型 动力学 拉格朗日法 ADAMS仿真 

分 类 号：TH122[机械工程—机械设计及理论] TP242.3[自动化与计算机技术—检测技术与自动化装置]