河北水利电力学院学报

河北水利电力学院学报 ›› 2022, Vol. 32 ›› Issue (1): 22-27.DOI: 10.16046/j.cnki.issn2096-5680.2022.01.004

• 人工智能与机器人专题 • 上一篇    下一篇

4自由度上肢康复机器人结构设计与仿真分析

蔡国庆1,2,3,石岩1,2,3,周利杰1,2,3,闫明3   

  1. 1.河北省工业机械手控制与可靠性技术创新中心，河北省沧州市黄河西路49号 061001；
    2.沧州市工业机械手控制与可靠性技术创新中心，河北省沧州市黄河西路49号 061001；
    3.河北水利电力学院  机械工程系，河北省沧州市黄河西路49号 061001
  • 收稿日期:2021-10-08 出版日期:2022-03-31 发布日期:2022-06-23
  • 作者简介:蔡国庆（1990-），男，河北沧州人，硕士研究生，讲师，主要从事机器人技术方向的研究，（邮箱）710922832@qq.com；
  • 基金资助:
    河北省高等学校科学技术研究青年基金项目（QN2021226）；河北省教育厅科学技术研究项目（ZD202281）；沧州市科技计划自筹经费项目（204101009）；省属高等学校基本科研业务费研究项目（SYKY2002）

The Structure Design and Simulation Analysis of 4-DOF Upper Limb Rehabilitation Robot

CAI Guo-qing1,2,3,SHI Yan1,2,3,ZHOU Li-jie1,2,3,YAN Ming3   

  1. 1.Industrial Manipulator Control and Reliability Technology Innovation Center of Hebei,061001, Cangzhou,Hebei, China;
    2.Industrial Manipulator Control and Reliability Technology Innovation Center of Cangzhou,061001, Cangzhou,Hebei, China;
    3.Department of Mechanical Engineering, Hebei University of Water Resources and Electric Engineering,061001, Cangzhou,Hebei, China
  • Received:2021-10-08 Online:2022-03-31 Published:2022-06-23

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摘要： 设计了一种4自由度外骨骼康复训练机器人，改善了当前康复机器人运动关节单一、康复训练空间有限的缺陷。参照人体上肢尺寸标准，应用SolidWorks绘制了机器人三维模型，根据DH法对机器人建立正向运动学模型，通过Matlab验证了模型的正确性。通过Adams对模型进行运动学仿真，验证了结构在不发生干涉的条件下能够实现多关节复合康复训练运动。同时对机器人工作空间进行仿真分析，验证了机器人工作空间与人体上肢的日常活动空间是相匹配的，能够满足患者上肢康复训练的要求，应用Matlab对抬臂屈肘康复运动进行轨迹规划，验证了整个康复运动平稳合理。

关键词:

上肢康复机器人, 运动学, 工作空间, 轨迹规划

Abstract: A 4-DOF exoskeleton rehabilitation training robot, which improves the shortcomings of the current rehabilitation robot, such as single motion joint and limited rehabilitation training space. According to the size standard of human upper limb, the three-dimensional model of the robot is drawn by SolidWorks, and the forward kinematics model of the robot is established according to DH method. The correctness of the model is verified by MATLAB. The kinematics simulation of the model by ADAMS verifies that the structure can realize multi joint compound rehabilitation training without interference. At the same time, the robot workspace is simulated and analyzed to verify that the robot workspace matches the daily activity workspace of human upper limbs, which can meet the requirements of upper limb rehabilitation training. And the trajectory planning of arm lifting and elbow flexion rehabilitation movement is carried out by using MATLAB, which verifies that the whole rehabilitation movement is stable and reasonable.

Key words: upper limb rehabilitation robot, kinematics, working space, trajectory planning 

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