摘要
针对现有上肢康复机器人惯性冲击大、柔顺性和舒适性差的问题,提出一种新型绳驱动混联肘腕康复机器人,为得到其运动学正反解,把绳驱动腕部并联机构简化为2SPS/U机构,将腕部并联机构等效为虎克铰与肘关节康复机构串联,将整个混联机构等效为一个串联机构,基于D-H法对整个混联机构进行了位置正反解的计算和验证.
As the upper limb rehabilitation robot has large inertia impaction, poor flexibility and comfort, a novel cabledriven series-parallel elbow and wrist rehabilitation robot is presented. In order to obtaine its inverse and forward kinematics, the cable-driven wrist parallel mechanism is simplified to 2 SPS/U parallel mechanism, equivalent to hooke hinge in series with the elbow rehabilitation mechanism, and the hybrid mechanism is equivalent to a serial mechanism. Based on the D-H method, the forward and inverse position solution of the hybrid mechanism is given ,and validating the correctness of mathematical models.
作者
刘伟
马志广
张顺心
张建军
殷子琪
LIU Wei;MA Zhiguang;ZHANG Shunxin;ZHANG Jianjun;YIN Ziqi(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China;School of Information Engineering,Tianjin Modern Vocational Technology College,Tianjin 300350,China)
出处
《河北工业大学学报》
CAS
2018年第4期6-9,共4页
Journal of Hebei University of Technology
基金
国家自然科学基金(51175144)
教育部"春辉计划"合作科研项目(Z2017013)
关键词
肘腕关节康复
绳驱动
混联机构
运动学
elbow and wrist joint rehabilitation
cable-driven
hybrid mechanism
kinematics
