6自由度上肢康复机械臂的设计与仿真分析

Design and simulation analysis of six-degree-of-freedom upper limb rehabilitation manipulator

针对上肢康复机械臂的运动问题,对人体上肢进行关节自由度分析,采用SolidWorks设计了一种6自由度上肢康复机械臂的三维简易模型。运用D-H参数法建立机械臂运动学模型,推导运动学方程,并用RoboticToolbox工具箱对其进行正逆运动学仿真,验证了运动学模型的正确性;调用Jtraj函数对机械臂关节空间进行5次多项式轨迹规划,得到平滑连续的角位移、角速度和加速度曲线,说明机械臂各连杆参数设计的合理性;将三维模型导入Adams进行动力学仿真,模拟患者手臂做小幅度康复画弧运动,得到各关节随时间平稳变化的驱动力矩曲线,为机械臂的精密控制奠定基础。

To solve the motion problem of the upper limb rehabilitation manipulator,the joint degrees of freedom of the human upper limb are analyzed,and a three-dimensional simple model of the six-degree-of-freedom upper limb rehabilitation manipulator is designed by using SolidWorks.Firstly,the D-H method is used to establish the kinematics model of the manipulator,and derive the kinematics equation.The forward and inverse kinematics of the manipulator is simulated in the Robot Toolbox to verify the correctness of the kinematics model.The Jtraj function is called to perform the quintic polynomial trajectory planning in the joint space of the manipulator.The smooth and continuous curves of angular displacement,angular velocity and acceleration are obtained,which indicates the rationality of the parameter design of each link of the manipulator.The three-dimensional model is imported into Adams software for dynamic simulation.The patient's arm is simulated to do a small range of rehabilitation arc drawing motion,and the smooth driving torque curve of each joint is achieved,which provides the foundation for the precise control of the manipulator.