一种多自由度混联上肢康复外骨骼机构的研究

Study on a Multi-degree-of-freedom Exoskeleton Mechanism for Upper Limb Rehabilitation

结合人因工程,针对上肢康复需求,本文提出一种多自由度混联上肢康复外骨骼机构,采用5R+3-RPS的混联结构,可实现上肢7个自由度的康复训练。首先,采用分部计算的方法,使用D-H法计算串联康复机构的位姿转换矩阵,并用矢量法计算腕部康复机构的位姿转换矩阵,将2个矩阵相结合得到该上肢康复外骨骼机构运动学正解的位姿转换矩阵。其次,通过微分坐标变换和Plüker坐标变换求得该机构的雅各比矩阵。最终,进行ADAMS运动仿真,验证了该外骨骼机构运动功能的稳定性和可行性。

Aiming at upper limb rehabilitation training, a multi-degree-of-freedom hybrid exoskeleton mechanism with 5R + 3-RPS hybrid structure for upper limb rehabilitation(7-degrees-of-freedom upper limb rehabilitation training was made possible) was proposed based on human factors engineering. Firstly, the D-H method was used to calculate the pose conversion matrix of the series rehabilitation mechanism, and the vector method was used to calculate the pose conversion matrix of the wrist rehabilitation mechanism. The two matrices were combined to obtain the pose conversion matrix of the forward kinematics solution of the upper limb rehabilitation exoskeleton mechanism. Secondly, the Jacobian matrix of the mechanism was obtained by differential coordinate transformation and Plüker coordinate transformation. Finally, the stability and feasibility of the exoskeleton mechanism motion function was verified by ADAMS motion simulation.