中央驱动式上肢康复机器人运动学建模与分析

Kinematics Modeling and Analysis of Central-driven Robot for Upper Limb Rehabilitation after Stroke

为在结构上减小机械臂的体积,同时还减小电机噪音、辐射等不良因素对上肢功能障碍患者的影响,本文提出了上肢康复机器人的中央驱动式传动结构。利用Denavit-Hartenberg(D-H)表示法对中央驱动式上肢康复机器人进行运动学建模,得到了其正、逆运动学方程。使用SolidWorks三维建模软件进行三维建模,并让其在预设康复轨迹下进行运动仿真实验,得到了各关节的角度-时间曲线及机械臂手柄的位置-时间曲线。实验结果表明,机械臂手柄能在设定的康复轨迹下运动,验证了中央驱动式结构设计的合理性。同时,由机械臂手柄位置信息通过逆运动学方程计算得到的各关节的角度-时间曲线与从实验中得到的曲线最大误差不到3°,验证了所得运动学方程的有效性。

The present paper proposed a central-driven structure of upper limb rehabilitation robot in order to reduce the volume of the robotic arm in the structure, and also to reduce the influence of motor noise, radiation and other adverse factors on upper limb dysfunction patient. The forward and inverse kinematics equations have been obtained with using the Denavit-Hartenberg （D-H） parameter method. The motion simulation has been done to obtain the an- gle-time curve of each joint and the position-time curve of handle under setting rehabilitation path by using Solid- Works software. Experimental results showed that the rationality with the central-driven structure design had been verified by the fact that the handle could move under setting rehabilitation path. The effectiveness of kinematics e- quations had been proved, and the error was less than 3° by comparing the angle-time curves obtained from calcula- tion with those from motion simulation.