北京生物医学工程2017，Vol.36Issue(2)：177-185,9.DOI:10.3969/j.issn.1002-3208.2017.02.12
可穿戴上肢康复机器人的设计及其运动仿真和动力学分析
Design, kinematics simulation and dynamic analysis of the wearable upper-limb rehabilitation robot
摘要
Abstract
Objective Considering the desktop upper limb rehabilitation robot's disadvantages as bulky and difficult to move,a novel wearable upper-limb rehabilitation robot was developed,then,its kinematic characteristics were analyzed and joint torques were calculated to verify the rationality of the design.Methods Firstly,The overall structure of the robot was designed under the modular design principle.Then,the robot's 3D model was established by SOLIDWORKS,and the kinematics simulations of the motion of the elbow flexion and extension,shoulder flexion and extension,and shoulder-elbow linkage flexion and extension were done with SOILDWORKS Motion respectively.Finally,the dvnamic equations were established based on Lagrange's equation,and the changing curves of joint torque of the mechanical arm were calculated by MATLAB,Results The simulation results verified the smooth motion of shoulder joint,elbow joint and wrist joint,and the dynamic analysis proved that the changing curves of joint torque was smooth,and the maximum joint torques were less than the rated torques of the motors after deceleration.Conclusions The above results proved the reasonability of the design,which laid a theoretical founation for the follow-up study of the upper-limb rehabilitation robot.关键词
上肢康复机器人/运动学/仿真/动力学分析/MATLABKey words
upper-limb rehabilitation robot/kinematics/simulation/dynamic analysis/MATLAB分类
医药卫生引用本文复制引用
王露露,胡鑫,曹武警,张飞,喻洪流..可穿戴上肢康复机器人的设计及其运动仿真和动力学分析[J].北京生物医学工程,2017,36(2):177-185,9.基金项目
上海市科技支撑项目(14441904402)、上海康复器械工程技术研究中心项目(15DZ2251700)资助 （14441904402）
