基于SimMechanics的三自由度上肢康复机器人关节力矩的仿真计算

Torque Simulation of 3-DOF Upper Limb Rehabilitation Robot Based on SimMechanics

针对三自由度上肢康复机器人功能康复的动力学问题,基于康复机器人的运动学模型,建立了三自由度康复机器人的仿真模型。根据所规划轨迹,利用SimMechanics仿真计算得到了机器人驱动力矩,验证了所规划康复轨迹的可用性。

For the dynamic problem of 3-DOF upper limb rehabilitation robot functional rehabilitation,the simulation model of 3-DOF rehabilitation robot based on the simulation model of rehabilitation robot is established.According to the planned trajectory,the robot＇s driving torque is achieved with SimMechanics simulating calculation.The availability of the planned rehabilitation trajectory is verified.