摘要
针对我国偏瘫患者康复训练需求增加、康复训练设备运动形式单一的问题,设计了一种6自由度上肢康复训练机器人,实现了肩关节、肘关节和腕关节复合康复运动训练。对该机器人进行了运动学建模,通过MATLAB验证了模型的正确性;应用ADAMS对结构进行了运动学仿真分析,验证了其合理性。
In view of the increasing demand of rehabilitation training for hemiplegic patients, rehabilitation training equipment has the problem of single movement form, a 6-DOF upper limb rehabilitation training robot is designed, which can realize the compound rehabilitation exercise training of shoulder joint, elbow joint and wrist joint. The kinematics modeling of the robot is carried out, and the correctness of the model is verified by MATLAB;and the kinematics simulation analysis of the structure is carried out with ADAMS to verify its rationality.
作者
蔡国庆
李杰
石岩
周利杰
CAI Guo-qing;LI Jie;SHI Yan;ZHOU Li-jie(Hebei Industrial Manipulator Control and Reliability Technology Innovation Center,Cangzhou 061001,China;School of Electrical Engineering,Hebei University of Water Resources and Electric Engineering,Cangzhou 061001,China;Department of Rehabilitation,CANGZHOU People′s Hospital,Cangzhou 061001,China)
出处
《机械工程与自动化》
2022年第5期62-63,66,共3页
Mechanical Engineering & Automation
基金
河北省高等学校科学技术研究重点项目(ZD2019058)
沧州市科技计划自筹经费项目(204101009)
河北省省属高等学校基本科研业务费研究项目(SYKY2002)。
关键词
上肢
康复机器人
结构设计
仿真
upper limb
rehabilitation robot
structure design
simulation
