摘要
针对上肢轻度瘫痪患者自主进行康复理疗训练的问题,在深入了解传统康复训练的弊端和康复机器人所应具备性能的基础上,提出了一种可穿戴式的外骨骼上肢康复机器人设计方案。首先,从仿生学角度出发,对该康复机器人的整体机械结构进行了建模,并设计了3处长度调节固定机构;然后,对机器人各关节驱动力矩进行了理论分析与计算,通过模型动作编写了step函数,将函数与三维模型图导入Adams进行了动力学仿真;得到了各关节的驱动力矩曲线图,再将其与理论计算结果作了对比分析;最后,对肩关节支撑板和大臂支撑板进行了强度分析。研究结果表明:该外骨骼上肢康复机器人结构设计方案具有较高可行性,能帮助患者实现康复训练。
Aiming at the problem that patients with mild paralysis of upper limbs could conduct rehabilitation physical therapy training independently,based on understanding of the drawbacks of traditional rehabilitation training and the functions of rehabilitation robots, the exoskeleton upper limb rehabilitation robot which is wearable was proposed.From the perspective of bionics, the overall mechanical structure of the rehabilitation robot was modeled, and three fixing devices which could achieve length adjustment were designed.The driving torque of the robot’s each joint was analyzed and calculated theoretically.The step function was written according to the model action.The function and the 3D model map were imported into the Adams for dynamics simulation, and the driving torque curves diagram of each joint were obtained.The simulation results were compared with the theoretical calculation results.The support plates of the shoulder joint and the upper arm were analyzed.The results indicate that the structural design of the exoskeleton upper limb rehabilitation robot is highly feasible,and it can help patients achieve rehabilitation training.
作者
孙超
苑明海
周灼
蔡仙仙
SUN Chao;YUAN Ming-hai;ZHOU Zhuo;CAI Xian-xian(College of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China)
出处
《机电工程》
CAS
北大核心
2019年第4期383-386,共4页
Journal of Mechanical & Electrical Engineering
基金
江苏省特种机器人技术重点实验室开放基金项目(2017JSJQR03)
三一重工企业专项资助项目(XZX/17B011-18)
关键词
结构设计
康复机器人
动力学仿真
强度分析
structural design
rehabilitation robot
dynamics simulation
strengthanalysis
