工程设计学报Issue(4)：338-343,6.DOI:10.3785/j.issn.1006-754X.2013.04.014
一种六自由度上肢康复机器人的结构设计及运动学分析
Structure design and analysis of kinematics of a 6-DOF upper-limbed rehabilitation robot
摘要
Abstract
In order to solve the problems that the exiting upper-limbed rehabilitation robot has sole function and complicated structure ,a 6-DOF exoskeleton upper-limbed rehabilitation robot is put forward according to the structure of upper limb of the human body .The kinematics model of the rehabilitation robot was established ,and kinematics positive and inverse solutions were solved by D-H transformation . Three dimensional model of the rehabilitation robot was created by Pro/E and was imported into ADAMS/view for the kinematics simulation by Mechanism/Pro . The obtained simulation position curves are consistent with the theoretical position curves ,verif-ying the correctness of the theoretical derivation .Further results of the simulation proves the smooth movement characteristics of the scheme .关键词
外骨骼/康复机器人/运动学/仿真Key words
exoskeleton/rehabilitation robot/kinematics/simulation分类
机械制造引用本文复制引用
曹电锋,杨启志,庄佳奇,姚斌斌..一种六自由度上肢康复机器人的结构设计及运动学分析[J].工程设计学报,2013,(4):338-343,6.基金项目
国家自然科学基金资助项目（50905077）；教育部高校博士点基金SRFDP资助项目（20093227120007），江苏省博士后基金资助项目（0901010B）． （）
