六自由度外骨骼手臂设计与仿真研究

针对康复机器人在短时间内治疗效果不明显等缺点,基于三维造型软件设计了—六自由度从外骨骼手臂模型,以获得穿戴者各关节的运动数据,以便传递给主外骨骼达到控制目的。建立D-H坐标系和齐次坐标变换,并进行了正运动学分析及仿真验证,仿真结果表明,在自然状态和各动作运动过程中,该模型角加速度的最大值为1.05×10-7rad/s2,上臂质心和前臂质心之间的最大变化量为19.1mm,变化的幅度很小,各关节可以实现预定的轨迹,并完成日常生活中简单的基本动作。该模型设计合理,为机构的控制提供了运动学参数。

The Design and Simulation of 6 - DOF Exoskeletal Arm

This paper presents a 6 -DOF exoskeletal arm as an auxiliary structure. It aims at obtaining each joint motion dates of the wearer. So it can control the main exoskeleton. D - H coordinate system and homogeneous coordinate transformation are established and then forward kinematics analysis and simulation is carried out, the simulation results show that , in the state of nature and in the process of the action ,the maximum model＇s angle acceleration value is 1.05 10^-7rad/s^2 and the maximum variation between upper arm centroid and forearm centroid is 19.1 mm , the change ranges is very small and each joint can a- chieve the predetermined trajectory and can complete simple basic movements. So the model design is rea- sonable, and provides kinematics l~arameters for the control of the agency.