人机交互式五轴机械手设计与制造

Design and Manufacture of Human-machine Interactive of Five-axis Manipulator

仿照人的手臂设计小型五轴机械手,通过SolidWorks软件完成机械手的三维数字化设计,根据D-H方法建立机械手的姿态运动方程,从而建立数学模型。通过运动学反解得出机械手臂的位姿,完成零件加工,并制作实物,为正在研究的人机交互式的控制系统,时时追踪人手臂的动作,实现远程医疗服务提供理想的实验对象。

Based on the human arm,the small five-axis manipulator was designed.The three dimensional digital design of manipulator was completed by SolidWorks software.According to the D-H method,the attitude motion equation of the manipulator was established,thus the mathematical model was established.The posture of the mechanical arm was obtained by inverse kinematics.The parts of the manipulator were manufactured and assembled,which provides the ideal experimental object for the human?machine interactive control system,tracking the movements of the human arm and realizing remote medical service serving.