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为在结构上减小机械臂的体积,同时还减小电机噪音、辐射等不良因素对上肢功能障碍患者的影响,本文提出了上肢康复机器人的中央驱动式传动结构。利用Denavit-Hartenberg(D-H)表示法对中央驱动式上肢康复机器人进行运动学建模,得到了其正、逆运动学方程。使用SolidWorks三维建模软件进行三维建模,并让其在预设康复轨迹下进行运动仿真实验,得到了各关节的角度-时间曲线及机械臂手柄的位置-时间曲线。实验结果表明,机械臂手柄能在设定的康复轨迹下运动,验证了中央驱动式结构设计的合理性。同时,由机械臂手柄位置信息通过逆运动学方程计算得到的各关节的角度-时间曲线与从实验中得到的曲线最大误差不到3°,验证了所得运动学方程的有效性。
In order to reduce the structure of the robot arm, while reducing motor noise, radiation and other adverse factors on patients with upper extremity dysfunction, this paper presents the upper limb rehabilitation robot’s central drive transmission structure. The kinematics of a centrally driven rehabilitation robot with a Denavit-Hartenberg (D-H) representation was obtained. The positive and inverse kinematics equations were obtained. Using SolidWorks 3D modeling software for 3D modeling and motion simulation experiments under the preset trajectory, the angle-time curves of each joint and the position-time curve of the manipulator handle were obtained. The experimental results show that the manipulator handle can move under the set rehabilitation trajectory, which verifies the rationality of the central drive structure design. At the same time, the angle-time curve of each joint calculated by the inverse kinematics equation and the maximum error of the curve obtained from the experiment are less than 3 °, which verifies the validity of the obtained kinematic equation.