摘要
文中基于手指的生物学特征与ADAMS,设计了一种手指康复训练机器人,机器人通过平行四边形连杆机构进行关节独立驱动,实现对手指的屈曲/伸展运动训练,通过对机构进行运动学仿真,分析了机器人驱动关节速度、角速度及角加速度特性,结果显示符合手指的运动学特性,可以作为手指康复机器人的机构模型。
Based on the biological characteristics of fingers and with the aid of ADAMS,a finger-rehabilitation robot is developed in this article.The robot independently drives the joints by means of a parallelogram link mechanism,in order to realize the flexion/extension of fingers.With the help of kinematic simulation,the analysis is conducted on the characteristics of the mechanism’s joint velocity,angular velocity,and angular acceleration.The results show that this mechanism which conforms to the kinematic characteristics of fingers serves as a model of finger-rehabilitation robots.
作者
路光达
张秋月
安宁
冯宇
郄彤彤
LU Guang-da;ZHANG Qiu-yue;AN Ning;FENG Yu;QIE Tong-tong(Tianjin Key Laboratory of Information Sensing and Intelligent Control,Tianjin University of Technology and Education,Tianjin 300222;The 54th Research Institute of China Electronics Technology Group Corporation,Shijiazhuang 050081)
出处
《机械设计》
CSCD
北大核心
2020年第6期87-90,共4页
Journal of Machine Design
基金
河北省重点研发计划资助项目(19211905D)
天津市高等学校科技发展基金计划资助项目(20140714)
天津市高校中青年创新人才培养计划。
关键词
康复机器人
仿真分析
运动学
ADAMS
finger-rehabilitation robot
simulation analysis
kinematics
ADAMS
