人体上肢康复外骨骼机器人结构设计分析

Design and Analysis of Human Upper Limb Rehabilitation Exoskeleton Robot

从解剖学角度分析了人体基本坐标系,采用Solidworks三维制图软件建立了仿真模型。将Solidworks三维模型导入Adams软件进行动力学仿真,得到了各关节的电机转矩、角速度及角加速度等参数的变化曲线,并依据仿真结果进行了元器件的选型。所设计人体上肢康复外骨骼机器人是一种应用于脑卒中患者、便于穿戴的外骨骼机器人,可以满足上肢瘫痪的脑卒中患者康复训练的需要。

The human upper limb rehabilitation exoskeleton robot studied in this paper is a wearable exoskeleton robot applied to stroke patients.The basic coordinate system of the human body was analyzed from the perspective of anatomy,and the model was established by using Solidworks software.And then the Solidworks 3d model was imported into Adams for dynamic simulation,and the torque,angular velocity and angular acceleration curves of each joint motor were obtained,and the components were selected according to the simulation results.The human upper limb rehabilitation exoskeleton robot designed in this paper can meet the requirements of rehabilitation training for apoplexy patients with upper limb paralysis,and can provide certain theoretical support for the design of human upper limb rehabilitation exoskeleton robot.