摘要
针对三自由度可穿戴式上肢康复机器人，利用D—H法建立了机器人运动学方程。基于Pro／E软件对机器人进行建模，并导入ADAMS软件进行运动学仿真分析，依此确定了在一定输入条件下机器人的运动状态，为实际的机构控制提供了重要数据。
Through three-Degree-of-Freedom wearable up-limb rehabilitant robot,the equations of motion of robot are established by the method of D-H. Based on the software of Pro / E, the robot model is established,and it is software of ADAMS for the kinematics analysis and simulation. Thus the movement of robot is determinate in a certain condition of importation, and the important data are provided for the actual control of mechanism.
出处
《机电一体化》
2009年第3期32-34,共3页
Mechatronics
基金
国家自然科学基金项目(60575053)
哈尔滨市科技攻关计划项目(2005AA9CS190-1)
