下肢康复机器人腰部机构的结构设计与运动仿真分析OACSTPCD
Structure Design and Kinematical Simulation Analysis of the Waist Mechanism of Lower Limb Rehabilitation Robot
本文绘制了下肢康复机器人腰部机构的三维模型，对腰部机构进行了运动学建模和计算，并在机械系统动力学自动分析（ADAMS）软件中对腰部机构作运动学仿真，得到了腰部机构的仿真曲线。通过仿真曲线的分析，表明所设计的腰部机构能够满足下肢康复训练中腰部的运动规律，从而实现人体腰部的位姿控制，也验证了腰部机构结构设计的合理性。
The paper drew a three-dimensional model of the waist mechanism of lower limb rehabilitation robot. And the kinematics modeling and calculation of the waist mechanism was also carried out. In the meantime, the kinematical simulation of the waist mechanism was made by using ADAMS (Automatic Dynamic Analysis of Mechanical Systems) so as to obtain the waist mechanism simulation curve. It was showed that the structure design of the waist mechanism could satisfy …查看全部>>
陈成;黄玲
南京理工大学 机械工程学院，江苏南京210094南京理工大学 机械工程学院，江苏南京210094
医药卫生
腰部运动仿真分析康复机器人运动学建模
waist movementsimulation analysisrehabitation robotkinematical modeling
《中国医疗设备》 2016 (8)
26-29,4
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