基于虚拟现实技术的三自由度上肢康复机器人的轨迹规划

The Trajectory Planning of Tree Degrees of Freedom Upper Limbs Rehabilitation Robot Based on Virtual Reality Technology

为使脑卒中患者能够长期坚持康复训练,将虚拟现实技术与康复机器人相结合,建立人机交互康复训练环境。为适应处于不同患病时期的患者,设计主动模式和被动模式,针对不同模式设计不同训练环境。在主动模式下需要规划机械人手柄末端运动轨迹,为解决三自由度康复机器人机构逆运动学求解过程中的多解问题,采用在ADAMS中建立虚拟样机的方法进行正逆运动学仿真分析。仿真结果验证得到的机械末端运动轨迹与预设轨迹相同,证明机构具有良好的运动性能,为运动控制系统设计提供理论依据。

For the patients with cerebral apoplexy can insist on rehabilitation training for a long time,human-computer interaction rehabilitation training environment combined with robot was established. In order to suit different patients in the period of stroke,designed different training environment for initiative mode and passive mode. In active mode requires planning robots handle terminal trajectory,to solve the multiple solution problem that exists in the process of inverse kinematics of rehabilitation robot mechanism,adopted the method of established virtual prototype in ADAMS to proceed inverse kinematics simulation analysis. The simulation results verify that the mechanical terminal trajectory is the same as the preset trajectory,certifying authority has a good motion performance,providing theoretical basis for the motion control system design.