摘要
针对上肢受损患者的康复,优化出一款三自由度串并混联上肢康复机器人,使用D-H法建立坐标系,对上肢康复机器人进行正、逆运动学分析和雅克比矩阵的求解,并建立上肢康复机器人末端位姿矩阵,利用蒙特卡洛法对上肢康复机器人工作空间进行研究,使用MATLAB软件进行仿真绘制出上肢康复机器人在工作空间的点阵图,比较分析上肢康复机器人工作空间和目标空间的关系,提出上肢康复机器人使用的优化方案。
In order to solve the rehabilitation of the patients with upper limb injury,a three-degree-of-freedom and parallel upper limb rehabilitation robot was optimized.The coordinate system was established by DH method.The positive and inverse kinematics analysis and the Jacobian matrix were solved and established The posterior position matrix of upper limb rehabilitation robot was used to study the working space of upper limb rehabilitation robot by Monte Carlo method.The mathematic work of upper limb rehabilitation robot in working space was simulated by MATLAB software,and the working space and target space of upper limb rehabilitation robot The relationship between the proposed upper limb rehabilitation robot used in the optimization program.
出处
《华北理工大学学报（自然科学版）》
CAS
2018年第1期83-90,共8页
Journal of North China University of Science and Technology：Natural Science Edition
基金
河北省自然基金项目(E2017209252)
河北省教育厅青年基金项目(QN2015203)
关键词
上肢康复机器人
串并混联
蒙特卡洛法
工作空间
upper limb rehabilitation robot
serial-parallel mechanism
Monte Carlo method
workspace
