摘要
通过建立人肢体骨骼、肌肉组织与康复机器人机械手指节表面的曲面方程,对人肢体肌肉组织划分微元,通过微元的应变逐步求解康复机器人机械手的指节压力,从而实现对人机交互力的计算与分析。在简化模型仿真验证中,展现了位移量(压入量)、交互位置、人肢体软组织弹性模量、泊松比等参数对人机交互力的影响规律,位移量为5 mm时,理论计算与仿真结果的平均相对误差在10%~15%左右。仿真结果表明:本文理论可以有效计算康复机器人机械手的指节压力,能对人机交互力进行计算与评价。
The proposed method builds surface equations of bones,muscle of human limb and robot fingers,divides finite elements of muscle tissue of human limbs,gradually obtains finger force of rehabilitation robot hand,and finally realizes the calculation and analysis of human-robot interaction force.In simulation verification of simplified model,the effects of displacement,position of interaction,elasticity modulus of human soft tissue and Poisson's ratio on human-robot interaction force are revealed,and the average relative error between theoretical calculation and simulation data varies from 10%to 15%when the displacement is 5 mm.The simulation outcomes indicate that the proposed theory is able to effectively calculate finger force of rehabilitation robot hand,calculate and evaluate human-robot interaction force.
作者
李学勇
赵仲秋
张春松
路长厚
LI Xue-yong;ZHAO Zhong-qiu;ZHANG Chun-song;LU Chang-hou(School of Mechanical Engineering,Shandong University,Jinan 250061,China;Key Laboratory of High Efficiency and Clean Mechanical Manufacture,Ministry of Education,Shandong University,Jinan 250061,China;National Demonstration Center for Experimental Mechanical Engineering Education,Shandong University,Jinan 250061,China)
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2021年第5期1612-1619,共8页
Journal of Jilin University:Engineering and Technology Edition
基金
山东省重点研发计划项目(2019GGX104038)
山东大学基本科研业务费专项项目(2016JC001).
关键词
机械电子工程
人机交互力
仿人康复机器人
有限元
可变形体抓取
mechatronic engineering
human-robot interaction force
humanoid rehabilitation robot
finite element
deformable object grasping
