现代电子技术2024，Vol.47Issue(14)：147-156,10.DOI:10.16652/j.issn.1004-373x.2024.14.023
上肢康复机械臂运动学和力学模型建立与分析
Establishment and analysis of kinematics and mechanical model for upper limb rehabilitation robotic arm
摘要
Abstract
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.关键词
上肢康复机械臂/运动学模型/力学模型/蒙特卡洛法/牛顿-欧拉方程/动力学仿真Key words
upper limb rehabilitation robotic arm/kinematic model/mechanical model/Monte Carlo method/Newton Euler equation/dynamics simulation分类
信息技术与安全科学引用本文复制引用
张广宇,李锐鹏,杨其华,高升..上肢康复机械臂运动学和力学模型建立与分析[J].现代电子技术,2024,47(14):147-156,10.基金项目
国家自然科学基金项目(52005473) （52005473）
浙江省自然科学基金项目(LQ20E050018) （LQ20E050018）
