2自由度手臂康复机器人运动学及动力学分析

针对上肢康复训练需求,设计一种采用二连杆串联结构的2自由度手臂康复机器人。基于D-H法对机器人的正、逆运动学进行理论分析,采用Matlab/Simulink和SimMechanics工具箱分别搭建机器人的正逆运动学理论模型与机构模型进行仿真对比,分析结果验证了机器人运动学建模的正确性。结合人体工程学相关标准和手臂关节运动范围要求,建立机器人与手臂机构的联合仿真模型,确定机器人的工作空间;并完成机器人进行画圆训练的轨迹规划,为机器人运动控制奠定了基础。基于联立约束法建立机器人的动力学模型,确定了机器人各关节驱动力矩大小,为驱动电机选取和控制器参数选择提供了依据。

Kinematics and Dynamics Analysis of a Two-degree-of-freedom Arm Rehabilitation Robot

A two-degree-of-freedom arm rehabilitation robot with two-link series structure is designed for the requirements of upper limb rehabilitation training. Firstly, the forward and inverse kinematics of the robot is analyzed based on D-H method. The forward and inverse kinematics theory model and mechanism model of the robot are established and analyzed by using Matlab/Simulink and SimMechanics toolbox. The analysis results verify the correctness of robot kinematics modeling. According to the ergonomics related standards and the arm joints range requirements, a co-simulation model of the robot and arm mechanism is established to determine the workspace of robot. The trajectory planning of the robot for drawing circle training is completed, which laid the foundation for robot motion control. Finally, the dynamics model of the robot is established based on the simultaneous constraint method, the driving torque of each joint is determined, a basis for the selection of driving motors and controller parameters is provided.