5自由度康复治疗机械手的设计与仿真

Design and Simulation of 5-DOF Rehabilitative Mechanical Arm

在借鉴现有康复治疗机械手优缺点的基础上,从人手的解剖学入手,详细给出了气缸式康复治疗机械手各模块的设计和计算分析过程.通过各模块工作空间的实例演算与机械手的整体动力学仿真模拟,验证了该机械手在康复治疗中的可行性.

Based on the merits of the existing therapy robots and the anatomy of human＇s arm, this paper designed a new kind of rehabilitative mechanical arm. and discused its design process. In the end, the calculation instance of each module and the simulation of the whole mechanical arm were giver out.