六自由度外骨骼式康复机械臂机构设计

Mechanism Design of the Exoskeleton Rehabilitation Mechanical Arm With 6-DOF

结合临床康复医学理论,针对康复机械臂特点,文章根据康复需要设计出一种六自由度康复机械手臂的灵巧机构。通过分析肩关节处三自由度串联分布的六种情况,结合肩关节运动参数,借助圆弧导轨构成的虚轴实现肩关节球副运动功能的设计,给出了肩关节处采用PRR和RRP的两种串联三自由度组合设计。最后,对文中提出的PRR模型通过运动学仿真及实验样机验证了机构运动功能的可行性。

According to the characters of the rehabilitation mechanical arm and the medical theory of clinical rehabilitation, a dexterous rehabilitation mechanical arm with 6-DOF is designed to satisfy the need of rehabilitation. By analyzing the six cases of the 3-DOF series distribution of the shoulder joint, and the kinematic parameters of the shoulder joint, the spherical joint motion of the shoulder joint is achieved by using the circular arc guide rail, a combined design of two serial mechanism at the shoulder joint using PRR and RRP with 3-DOF is given. Finally, the kinematics simulation and experimental prototype of the PRR model proposed by this paper was realized, and thus proved the feasibility of this design.