摘要
针对现有上肢康复训练机器人存在功能集成度低和结构庞杂的缺陷,设计了一种6DOF可穿戴式上肢康复训练机器人。采用SolidWorks构建机器人的三维模型,通过ADAMS/View提供的模型交换接口导入ADAMS中进行运动学仿真。基于D-H表示法建立机器人的正向运动学模型,利用MATLAB软件对机器人进行运动学仿真及工作空间仿真分析。得到机器人末端轨迹仿真曲线与理论曲线一致,检验了机器人运动学方程推理的准确性,工作空间仿真结果说明了该方案的合理性。
In view of the shortcomings of the existing upper limb rehabilitation training robot, such as the low function integration and the complex structure, a 6DOF wearable upper limb rehabilitation training robot was designed. The dimensional model of robot was built by SolidWorks and was imported into ADAMS for kinematics simulation by the model exchange interface provided by ADAMS/ View. Based on the D-H method, the forward kinematics model of the robot was established, and the kinematics simulation and work space simulation analysis of the robot were carried out by MATLAB. The obtained simulation curve of robot end effector trajectory is consistent with the theoretical curve. The accuracy of the robot kinematics equation is verified. The workspace simulation results show that the scheme is reasonable.
作者
檀祝新
余晓流
高文斌
TAN Zhuxin;YU Xiaoliu;GAO Wenbin(College of Mechanical Engineering, Anhui University of Technology, Maanshan Anhui 243002, China)
出处
《机床与液压》
北大核心
2019年第3期32-36,共5页
Machine Tool & Hydraulics
关键词
上肢
康复机器人
运动学
工作空间
仿真
Upper limb
Rehabilitation robot
Kinematics
Workspace
Simulation
