三自由度前臂康复外骨骼机构设计与轨迹规划OA
Design and Trajectory Planning of a 3-DoF Forearm Rehabilitation Exoskeleton
为满足当前脑卒中后遗症患者在康复训练中对前臂康复的需求,以及保证患者在康复训练过程中的舒适性和安全性,设计一种三自由度前臂康复外骨骼,为满足康复运动转矩需求以及更好的控制效果,关节驱动机构采用行星齿轮减速和绞盘减速两级减速方式;针对腕部训练的协同性问题,运用平行四边形机构原理设计其腕部关节;整体结构利用SolidWorks进行三维建模.将整体模型简化为三连杆模型后通过D-H法对其建立运动学模型,通过MATLAB验证了模型的正确性.最后,为了提高脑…查看全部>>
To meet the needs of post-stroke patients for forearm rehabilitation in current rehabilitation training,as well as to ensure the comfort and safety of patients during the rehabilitation process,a 3-DoF forearm rehabilitation exoskeleton is designed.In order to meet the torque requirements for rehabilitation movement and achieve better control effects,the joint driving mechanism adopts two-stage reduction with planetary gear reduction and winch reduction.To a…查看全部>>
尹智健;朱胜强;赵子军
山东建筑大学机电工程学院,济南 250101山东建筑大学机电工程学院,济南 250101山东巴塔智能科技有限公司,济南 250101
机械工程
前臂康复平行四边形机构五次多项式插值D-H法轨迹规划
forearm rehabilitationparallelogram mechanismfifth-order polynomial interpolationD-H methodtrajectory planning
《机电工程技术》 2024 (7)
102-106,166,6
评论