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为合理确定上肢外骨骼机械臂的物理参数,评估其运动性能,提出一种人体上肢运动空间的准确建模方法,并针对人体上肢自身的生理特点,给出自运动流形的优化求解以及外骨骼上肢机构奇异性消除方法.首先,通过分析人体上肢解剖结构,建立胸锁骨关节、盂肱关节以及肘关节等角度与末端位置的等效运动学模型,进而准确模拟上肢运动范围内的可达空间.其次,依据上肢冗余自由度导致的自运动特点,以上肢负载能力最大为约束条件,求解运动流形中的最佳姿态.最后,根据所建模型分析上肢的奇异姿态,给出可避免奇异性的外骨骼系统结构配置,从机构设计上避免上肢外骨骼系统运动控制过程奇异性的发生.
In order to reasonably determine the physical parameters of upper limb exoskeleton manipulator and evaluate the performance of the upper limb exoskeleton manipulator, an accurate modeling method of human upper limb motion space is proposed. According to the physiological characteristics of human upper limb, an optimized solution of self-moving manifold and exoskeleton First, through the analysis of human upper limb anatomy, the equivalent kinematics model of the thoracic and occipital joint, glenohumeral joint and elbow joint at the same angle and end position is established to accurately simulate the reachable space in upper limb movement range Secondly, according to the characteristics of self - motion caused by the redundant degrees of freedom of upper limbs, the maximal load capacity of upper limbs is constrained to solve the optimal attitude in the motion manifold.Finally, the singular attitude of the upper limbs is analyzed according to the model, Exotic skeletal system structure configuration, from the body design to avoid the exoskeleton system motion control singularity.