三自由度上肢康复外骨骼结构设计与仿真

Structural Design and Simulation of Upper Limb Rehabilitation Exoskeleton with 3-DOF

针对目前康复外骨骼存在结构设计复杂、价格高昂等不足,设计了一种结构简单、价格低廉、可批量定制的新型三自由度上肢康复外骨骼;首先,根据脑卒中患者的康复功能需求分析,设计了一款便携性上肢康复外骨骼,并与国内外主流康复外骨骼的价格进行了对比;其次,基于Denavit-Hartenberg(D-H)参数法建立了连杆坐标系,推导了运动学方程并给出了验证;然后,采用蒙特卡洛法对末端位姿工作空间进行求解,利用仿真软件绘制了工作空间点云图;最后,利用ADAMS对康复外骨骼进行了运动学仿真实验,验证了运动学分析的可靠性。结果表明,上肢康复外骨骼结构设计合理,能够满足上肢运动功能障碍患者的主动康复训练要求。

To improve the deficiencies of complicated structural design and the high cost of the current rehabilitation exoskeleton,a novel upper limb rehabilitation exoskeleton with simple structure,mass customization,and low cost was designed.Firstly,according to the analysis of rehabilitation function needs of stroke patients,a portable upper limb rehabilitation exoskeleton was designed and compared with the prices of mainstream rehabilitation exoskeletons at home and abroad.Secondly,the coordinate system of links was established based on Denavit-Hartenberg(D-H)parameter method,and the kinematics equation was derived and verified.Then,Monte Carlo method was used to solve the end pose workspace,and the point cloud map of the workspace was drawn using simulation software.Finally,the reliability of kinematic analysis was verified by ADAMS through kinematics simulation experiments.The results show that the structural design of the upper limb rehabilitation exoskeleton is reasonable,which can meet the requirements of active rehabilitation training for patients with upper limb motor dysfunction.