五自由度上肢康复机械手臂的雅戈比逆矩阵

Jacobin inverse matrix of 5DOF upper limbs convalescence robot

康复机器人是目前研究的热点方向之一,针对五自由度上肢康复机械手臂,通过ADAMS建立了康复手臂的几何仿真模型。在运动学分析的基础上,求解5个自由度θ1～θ5微分的解析解,得到了五自由度康复机械手臂的雅戈比逆矩阵,并对相关自由度进行了加速度仿真分析,为完善康复手臂的控制效果提供了依据。

The convalescence robot is one of the hot points in current research. Directed against 5DOF upper limbs convalescence robot and through ADAMS the geometric simulative model for convalescing upper limbs was established. On the basis of kinematics analysis, the differential analytic solutions of 5DOF θ_1 to θ_5 were made, and gained the Jacobin inverse matrix for the 5DOF convalescence mechanical limbs. The acceleration simulative analysis on relevant DOF was carried out, thus provided a foundation for improving the effect of control of convalescing the limbs.