一种六自由度上肢康复训练机器人运动学及工作空间仿真分析
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摘要
针对现有上肢康复训练机器人存在功能集成度低和结构庞杂的缺陷,设计了一种6DOF可穿戴式上肢康复训练机器人。采用SolidWorks构建机器人的三维模型,通过ADAMS/View提供的模型交换接口导入ADAMS中进行运动学仿真。基于D-H表示法建立机器人的正向运动学模型,利用MATLAB软件对机器人进行运动学仿真及工作空间仿真分析。得到机器人末端轨迹仿真曲线与理论曲线一致,检验了机器人运动学方程推理的准确性,工作空间仿真结果说明了该方案的合理性。
In view of the shortcomings of the existing upper limb rehabilitation training robot, such as the low function integration and the complex structure, a 6 DOF wearable upper limb rehabilitation training robot was designed. The dimensional model of robot was built by SolidWorks and was imported into ADAMS for kinematics simulation by the model exchange interface provided by ADAMS/View. Based on the D-H method, the forward kinematics model of the robot was established, and the kinematics simulation and workspace simulation analysis of the robot were carried out by MATLAB. The obtained simulation curve of robot end effector trajectory is consistent with the theoretical curve. The accuracy of the robot kinematics equation is verified. The workspace simulation results show that the scheme is reasonable.
In view of the shortcomings of the existing upper limb rehabilitation training robot, such as the low function integration and the complex structure, a 6 DOF wearable upper limb rehabilitation training robot was designed. The dimensional model of robot was built by SolidWorks and was imported into ADAMS for kinematics simulation by the model exchange interface provided by ADAMS/View. Based on the D-H method, the forward kinematics model of the robot was established, and the kinematics simulation and workspace simulation analysis of the robot were carried out by MATLAB. The obtained simulation curve of robot end effector trajectory is consistent with the theoretical curve. The accuracy of the robot kinematics equation is verified. The workspace simulation results show that the scheme is reasonable.
引文
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[3] LUM P S,BURGA C G,SHOR P C.Use of the MIME Robotic System to Retrain Multi-joint Reaching in Post-stroke Hemiparesis:Why Some Movement Patterns Work Better than Others[C]//Proceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology.Piscataway,USA:IEEE,2003:1475-1478.
[4] LUM P S,BURGAR C G,VAN DER LOOS M,et al.The MIME Robotic System for Upper-limb Neuro-Rehabilitation:Results from a Clinical Trial in Subacute Stroke[C]//Proceedings of IEEE International Conference on Rehabilitation Robotics.Piscataway,USA:IEEE,2005:511-514.
[5] BALASUBRAMANIAN S,WEI R H,PEREZ M,et al.RUPERT:An Exoskeleton Robot for Assisting Rehabilitation of Arm Functions[C]//Proceedings of 2008 Virtual Rehabilitation.Piscataway,USA:IEEE,2008:163-167.
[6] BALL S J,BROWN I E,SCOTT S H.MEDARM:A Rehabil-itation Robot with 5DOF at the Shoulder Com Plex[C]//Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Piscataway,USA:IEEE,2007.
[7] REINKENSMEYER D J,KAHN L E,AVERBUCH M,et al.Understanding and Treating Arm Movement Impairment After Chronic Braininjury:Progress with the ARM Guide[J].Journal of Rehabilitation Research and Development,2000,37(6):653-662.
[8] MIHELJ M,NEF T,RIENER R.ARMin II-7 DoF Rehabi-litation Robot:Mechanics and Kinematics[C]//Proceedings of IEEE International Conference on Robotics and Automation.Piscataway,USA:IEEE,2007:4120-4125.
[9] 赵峰.上肢康复辅助训练机器人的设计[D].西安:西安电子科技大学,2014.
[10] 许祥.基于外骨骼的上肢康复机器人设计与研究[D].南京:南京理工大学,2014.
[11] 吕超.上肢偏瘫康复机器人研究[D].上海:上海交通大学,2011.
[12] 丁玉兰.人机工程学[M].北京:北京理工大学出版社,2011.
[13] SAEED B N.机器人学导论:分析、控制及应用[M].2版.北京:电子工业出版社,2013.
[14] 郑建荣.ADAMS虚拟样机技术入门与提高[M].北京:机械工业出版社,2002.
[15] 张志勇,杨祖樱.MATLAB 教程 R2011a[M].北京:北京航空航天大学出版社,2011.
[16] 王晓强,王帅军,刘建亭.基于MATLAB 的 IRB2400 工业机器人运动学分析[J].机床与液压,2014,42(3):54-57.WANG X Q,WANG S J,LIU J T.Kinematics Analysis of IRB2400 Industrial Robot Based on MATLAB[J].Machine Tool & Hydraulics,2014,42(3):54-57.
[17] 苑丹丹,邓三鹏,王仲明.基于蒙特卡洛法的模块化机器人工作空间分析[J].机床与液压,2017,45(11):9-12.YUAN D D,DENG S P,WANG Z M.Analysis of Robotic Workspace of Modular Robot Based on Monte-Carlo Method[J].Machine Tool & Hydraulics,2017,45(11):9-12.