肩部康复外骨骼机构设计与运动学分析

Mechanism Design and Kinematics Analysis of Shoulder Rehabilitation Exoskeleton

近年来,脑卒中患者越来越多,在患者的康复过程中会存在一些问题。其中,最常见的是上肢问题,这严重影响了患者的生活健康。设计了一种康复机器人用来代替康复医疗师的工作,康复机器人可以带动肩部实现5个自由度的运动,来帮助患者更快地适应正常的生活。在机械结构方面,采用平行四边形机构与球铰机构设计,可以在患者肩部运动时得到更高的运动学一致性。并且在设计过程中,充分考虑了肩肱节律所带来的问题,从而增加了患者与康复机器人之间的协调性。接下来,对该机构进行正运动学建模,在建模的过程中,通过分析机构的特点,在D-H方法的基础上,提出了一种新的建模方法,可以降低推算难度。最后,通过Matlab和Adams的联合仿真,得到机构末端点的位移曲线,从曲线的轨迹变化可以验证机构运动学方程的正确性。

In recent years,there are more and more patients with cerebral apoplexy,and there will be some problems in the rehabilitationprocess of patients.Among them,the most common is the upper limb problems,which seriously affect the life and health of patients.Arehabilitation robot was designed to replace the work of rehabilitation medical therapists.The rehabilitation robot could drive the shoulder toachieve five degrees of freedom movement,so as to help patients adapt to normal life faster.In terms of mechanical structure,parallelogrammechanism and spherical hinge mechanism were used to achieve higher kinematic consistency in shoulder movement.In the design process,the problems caused by shoulder-humeral rhythm were fully considered,thus increasing the coordination between patients and therehabilitation robot.Next,the forward kinematics modeling of the mechanism was carried out.In the process of modeling,a new modelingmethod was proposed based on D-H method by analyzing the characteristics of the mechanism,which could save the calculation difficulty.Finally,through the co-simulation of Matlab and Adams,the displacement curve of the end point of the mechanism was obtained,and thecorrectness of the kinematics equation of the mechanism could be verified by the change of the trajectory of the curve.