上肢康复机器人的运动学分析及轨迹规划

Kinematics analysis and trajectory planning of upper limb rehabilitation robot

为辅助偏瘫患者进行康复训练,设计了一款上肢康复机器人.首先利用D-H参数建立上肢多关节串联机器人运动学模型,并求解其正逆运动学,然后运用MATLAB上肢外骨骼康复机器人工具箱对该机器人进行建模,并将其导入ADAMS中进行运动学仿真并规划末端运动轨迹,以此得到上肢康复机器人的各关节角速度等数据.仿真结果表明:所设计的上肢康复机器人能够满足人体运动训练需求,且具有良好的应用价值,为优化完善机器人打下了基础,也为解决此类问题提供一种技术验证手段.

The main purpose of this study is to design an upper limb rehabilitation robot for hemiplegic patients.The kinematics model of the upper limb multi joint serial robot is established by using D-H parameters,and its forward and inverse kinematics are solved.On the basis of MATLAB,the rehabilitation robot toolbox of exoskeleton is used to model the robot.The data of angular acceleration and angular velocity of each joint of the upper limb rehabilitation robot are obtained by importing the model into ADAMS for kinematics simulation and planning the end motion trajectory.The simulation results show that the designed upper limb rehabilitation robot can meet the needs of human motion training,and has good application value,which lays a foundation for optimizing and perfecting the robot,and provides a technical verification method for solving such problems.