上肢术后康复机器人运动学分析与运动轨迹规划

Kinematics Analysis and Trajectory Planning of the Postoperative Upper Limbs Rehabilitation Robot

鉴于当前上肢术后康复训练资源严重不足的现状,基于安全性与康复功能需求,设计了一款三自由度、运动范围大、人体适应性强、可用于左右两侧上肢康复训练的术后康复机器人。采用Denavit Hartenberg(D H)法建立了康复机器人的关节坐标系并确定杆件参数,分别进行了正运动学和逆运动学求解。提出了一种基于MATLAB中的Robotics Toolbox模块的运动学仿真与轨迹规划的方法,并对日常喝水动作进行了轨迹规划,得到了令人满意的轨迹,验证了康复机器人几何模型与数学模型的正确性,从而为后续的动力学分析、离线编程提供必要的基础。

In view of the present situation of severe shortage of postoperative rehabilitation training resources,based on the demand of safety and rehabilitation function,designed a postoperative rehabilitation robot,which has 3-DOF,large motion range,strong adaptability and can be used for two sides of the upper limb rehabilitation. Used Denavit Hartenberg method to establish the joint coordinate system,and determine the parameters of the rod,that analyze the positive kinematics and inverse kinematics. Proposed a method of kinematics simulation and trajectory planning by using Robotics Toolbox module based on MATLAB,then planned trajectory for daily water drinking action,obtained the satisfactory trajectory,verified the rationality of the geometric model and mathematical model of the rehabilitation robot,therefore,provided the basis for the dynamics analysis and off-line programming.