可穿戴上肢康复机器人的设计及其运动仿真和动力学分析

目的针对目前台式上肢康复机器人体积庞大、不便移动的缺点,设计了一款新型的可穿戴式上肢康复机器人,并通过对其运动特性的分析和关节力矩的计算,验证设计的合理性。方法首先,根据模块化设计原理,进行总体结构设计;然后,利用SOILDWORKS进行三维建模,并运用SOILDWORKS Motion对机器人肘关节屈曲/伸展运动、肩关节屈曲/伸展运动、肩肘关节联动运动进行运动仿真;最后,基于拉格朗日方法建立系统的动力学方程,并应用MATLAB软件计算得到机械臂关节力矩的变化曲线。结果仿真结果证实了肩关节、肘关节、腕关节运动仿真曲线平滑,动力学分析证实关节力矩变化曲线平滑且最大关节力矩均小于电机经减速后输出的额定转矩。结论该可穿戴式上肢康复机器人设计合理,为后续上肢康复机器人的研究奠定了理论基础。

Design,kinematics simulation and dynamic analysis of the wearable upper-limb rehabilitation robot

Objective Considering the desktop upper limb rehabilitation robot's disadvantages as bulky and difficult to move,a novel wearable upper-limb rehabilitation robot was developed,then,its kinematic characteristics were analyzed and joint torques were calculated to verify the rationality of the design.Methods Firstly,The overall structure of the robot was designed under the modular design principle.Then,the robot's 3D model was established by SOLIDWORKS,and the kinematics simulations of the motion of the elbow flexion and extension,shoulder flexion and extension,and shoulder-elbow linkage flexion and extension were done with SOILDWORKS Motion respectively.Finally,the dvnamic equations were established based on Lagrange's equation,and the changing curves of joint torque of the mechanical arm were calculated by MATLAB,Results The simulation results verified the smooth motion of shoulder joint,elbow joint and wrist joint,and the dynamic analysis proved that the changing curves of joint torque was smooth,and the maximum joint torques were less than the rated torques of the motors after deceleration.Conclusions The above results proved the reasonability of the design,which laid a theoretical founation for the follow-up study of the upper-limb rehabilitation robot.