摘要
针对传统康复机械臂存在的适配人体上肢自由度低、便携性较差、左右肢体互换困难等问题,提出一种9自由度的便携型上肢康复机械臂,满足偏瘫患者的训练需求。运用Matlab建立DH坐标系和运动学模型,通过蒙特卡洛法获取康复机械臂的三维空间点云图,验证其工作空间的合理性。基于牛顿-欧拉和拉格朗日方程对上肢康复机械臂进行动力学建模,推导了上肢康复机械臂力矩计算公式。将Adams动力学仿真与理论公式计算获取的各关节力矩值进行对比分析,计算两者之间的误差。实验结果表明,理论力学公式计算结果与Adams仿真结果误差值在0.1 N∙m以内,各关节的误差均在5%以内。实验结果验证了理论力学公式的正确性,为后续控制系统的建立和实物样机的制作提供了可靠的理论依据。
In allusion to the problems of traditional rehabilitation robotic arm such as low degrees of freedom,poor portability,difficulty in switching left and right limbs and so on,a 9-degree-of-freedom portable upper limb rehabilitation robotic arm is proposed,meeting the training needs of hemiplegic patients.The DH coordinate system and kinematics model were established by Matlab,and the three-dimensional point cloud image of the rehabilitation robot was obtained by means of Monte Carlo method to verify the rationality of its workspace.Dynamic modeling of upper limb rehabilitation robotic arm is conducted based on Newton-Euler and Lagrange equations,and the torque calculation formula for the upper limb rehabilitation robot is derived.The Adams dynamic simulation results are compared with the joint torque values calculated by the theoretical formula,and the error between them is calculated.The experimental results show that the error between the theoretical mechanical formula calculation results and the Adams simulation results is within 0.1 N·m,and the errors of the joints are all within 5%,which verifies the correctness of the theoretical mechanical formula and provides a reliable theoretical basis for subsequent control system establishment and physical prototype production.
作者
张广宇
李锐鹏
杨其华
高升
ZHANG Guangyu;LI Ruipeng;YANG Qihua;GAO Sheng(College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China)
出处
《现代电子技术》
北大核心
2024年第14期147-156,共10页
Modern Electronics Technique
基金
国家自然科学基金项目(52005473)
浙江省自然科学基金项目(LQ20E050018)。
关键词
上肢康复机械臂
运动学模型
力学模型
蒙特卡洛法
牛顿-欧拉方程
动力学仿真
upper limb rehabilitation robotic arm
kinematic model
mechanical model
Monte Carlo method
Newton Euler equation
dynamics simulation
作者简介
张广宇(1999-),男,湖北武汉人,硕士研究生,主要研究方向为上肢康复机器人技术及应用;李锐鹏(1988-),男,河南驻马店人,博士,讲师,主要研究方向为现代物流装备技术、在线表面形貌测量;杨其华(1962-),男,浙江义乌人,教授,硕士生导师,主要研究方向为计算机测控技术、机电一体自动化装备等;高升(1999-),男,内蒙古乌兰察布人,硕士研究生,主要研究方向为工业机械臂视觉。
