外骨骼康复机器人的正向运动学仿真分析

Forward Kinematics Simulation Analysis of Exoskeletons' Rehabilitation Manipulator

针对外骨骼康复机器人,本文根据人手的功能和运动约束,对机器人进行模块化设计,并建立了机器人位置正向运动学方程及外骨骼康复机器人抓取杯子的仿真模型,运用ADAMS/Hydraulics模块进行运动学仿真,仿真结果表明,虚拟手指运动机构实现了角加速、匀速、减速的运动状态,并得出了康复机械手关节角速度在0～170rad/s范围内人手可以完成关节弯曲运动的康复运动。虚拟指模型的运动学分析为外骨骼康复机械设备的研究提供了必要的理论依据和参数。

In this paper, the hand movements of exoskeletons rehabilitation manipulator are analyzed from the practical point. According to the hand functions and its exercise restraints, the analysis includes： a modular design of rehabilitation robot is finished; positive kinematics equations of the manipulator position are calculated; a simulation model of exoskeletons rehabilitation robot which can grab a cup is set up. Based on ADAMS, simulation results are consistent with the intended results; the motion state of angular acceleration, constant speed, and deceleration can be realized from the Virtual finger movement mecha- nism. The variation curve of rehabilitation robots joint angular velocity which has the range change from 0 ~o 170 rad/s can be got. In this range, people can complete the rehabilitation exercise of joint bending novement. The model of Virtual finger to Kinematics analysis can be provided the theory basis for the fol- owing study.