上肢康复机械臂运动学和力学模型建立与分析OA北大核心CSTPCD

In allusion to the problems of traditional rehabilitation robotic arm such as low degrees of freedom,poor portability,difficulty in switching left and right limbs and so on,a 9-degree-of-freedom portable upper limb rehabilitation robotic arm is proposed,meeting the training needs of hemiplegic patients.The DH coordinate system and kinematics model were established by Matlab,and the three-dimensional point cloud image of the rehabilitation robot was obtained by means of Monte Carlo method to verify the rationality of its workspace.Dynamic modeling of upper limb rehabilitation robotic arm is conducted based on Newton-Euler and Lagrange equations,and the torque calculation formula for the upper limb rehabilitation robot is derived.The Adams dynamic simulation results are compared with the joint torque values calculated by the theoretical formula,and the error between them is calculated.The experimental results show that the error between the theoretical mechanical formula calculation results and the Adams simulation results is within 0.1 N·m,and the errors of the joints are all within 5%,which verifies the correctness of the theoretical mechanical formula and provides a reliable theoretical basis for subsequent control system establishment and physical prototype production.