轻工机械2023，Vol.41Issue(6)：1-8,8.DOI:10.3969/j.issn.1005-2895.2023.06.001
考虑5指差异化的外骨骼康复机械手结构设计
Design of Exoskeleton Rehabilitation Manipulator Considering Five-Finger Differentiation
摘要
Abstract
Aiming at the problem of bloated structure and low adaptability of traditional exoskeleton rehabilitation manipulator,a connecting rod chute exoskeleton rehabilitation manipulator considering the differentiation of five fingers of human hand was designed.According to the biological characteristics of human hand,the structure of single finger was designed,and the mathematical model of single finger was constructed by analyzing the motion relationship between joints.With the constraint that the rotation centers of the finger joint of the manipulator and the human finger joint always coincide during the movement process and the motion characteristics of the human hand,the shortest sum of the lengths of each rod of the mechanical finger was taken as the optimization goal,and the particle swarm optimization algorithm for solving the model was designed to obtain the optimal solution of the finger size that meets the needs of rehabilitation training and had a compact structure.On the basis of single finger optimization,the length of the proximal knuckle was changed,and the differential design of the five fingers was made under the premise of keeping the motion characteristics of each finger unchanged.After many examples,the optimal solution of the five fingers size was obtained.Finally,the prototype model was constructed according to the optimization results,and the kinematics simulation of the model was carried out.The results show that the motion parameters of the designed exoskeleton mechanical finger meet the design requirements,and the motion trajectory characteristics between fingers conform to the law of human hand motion and meet the requirements of rehabilitation training.关键词
康复训练/外骨骼/连杆滑槽/粒子群算法/单指优化Key words
rehabilitation training/exoskeleton/connecting rod chute/particle swarm optimization/single finger optimization分类
信息技术与安全科学引用本文复制引用
宋栓军,郭晓虎,曹佳豪..考虑5指差异化的外骨骼康复机械手结构设计[J].轻工机械,2023,41(6):1-8,8.基金项目
国家自然科学基金青年科学基金项目(61701384) （61701384）
西安市科技计划先进制造业技术攻关项目(21XJZZ0016) （21XJZZ0016）
陕西省重点研发计划项目(2023-YBGY-349). （2023-YBGY-349）
