六自由度上肢康复机器人运动学分析及轨迹规划

Kinematics Analysis and Trajectory Planning of a Six-degree-of-freedom Upper Limb Rehabilitation Robot

针对脑卒中患者如何进行上肢康复训练问题,设计一款可穿戴式六自由度的上肢康复机器人。首先根据上肢骨骼的结构分析,利用SolidWorks设计出六自由度上肢康复机器人三维模型。其次建立上肢康复机器人D-H坐标系计算出末端位置坐标,在Adams中设置驱动函数对上肢肩、肘、腕关节进行模拟运动。最终使用Matlab机器人工具箱对上肢康复机器人进行五次多项式轨迹规划,验证了设计合理性。结论表明所设计的六自由度上肢康复机器人具有康复训练的效果。

Aiming at the problem of how to perform upper limb rehabilitation training for stroke patients,a wearable upper limb rehabilitation robot with six degrees of freedom is designed.Firstly,according to the structural analysis of the upper limb bones,a three-dimensional model of the six-degree-of-freedom upper limb rehabilitation robot is designed using SolidWorks.Secondly,the D-H coordinate system of the upper limb rehabilitation robot is established to calculate the end position coordinates,and the driving function is set in Adams to simulate the movement of the shoulder,elbow and wrist joints of the upper limb.Finally,the quintic polynomial trajectory planning of the upper limb rehabilitation robot is carried out using the Matlab robot toolbox,which verifies the rationality of the design.The conclusion shows that the designed six-degree-of-freedom upper limb rehabilitation robot has the effect of rehabilitation training.