摘要
目的将RBT-6T/S03S型6自由度工业机器人用于中医推拿按摩康复机器人的执行机构。方法通过机器人位置反解,得出影响机器人工作空间的关节转角表达式,给出工作空间的数学描述。利用机器人运动螺旋系的线性相关性建立机器人奇异位形的判别准则,得到机器人发生奇异的运动学条件和奇异位形曲面解析方程,以避免机器人在奇异位形及其附近作业。借助MATLAB软件,探索机器人位置工作空间边界和奇异位形的分布曲面,直观地表示机器人工作空间的形状和大小,以及奇异位形对工作空间的分割情况。结果为了满足作业任务的包容性要求,针对机器人的结构特点,提出描述机器人位置工作空间的方法。为改善当前按摩设备手法单一,无法实现适宜不同对象的个性化康复理疗方案的缺陷,设计出多关节多指推拿按摩机械手。结论通过研究机器人手腕和多关节多指的运动学,实现了适宜个性化按摩理疗所需的手法,并为影响按摩效果的运动学和动力学刺激量的控制提供了理论基础。
Purposes—To apply RBT-6T/S03S 6-DOF industrial robot to traditional Chinese medicine massage rehabilitation robot.Methods—Through inverse solution of the robot position,the expression of joint rotation angle affecting the robot workspace is obtained,and the mathematical description of the workspace is given which is an important technical parameter for quantifying the inclusiveness of robots in job tasks.Based on the linear correlation of the robot motion screw system,the criterion for determining the singularity of the robot is established,and the kinematics conditions for the singularity of the robot and the analytical equation of the singularity configuration surface are obtained to avoid the robot working in and near the singularity configuration.With the help of MATLAB software,the distribution surface of the workspace boundary and singular shape of the robot is explored,and the shape and size of the workspace of the robot are visually represented.Results—In order to meet the inclusive requirements of tasks,a method is proposed to describe the robot's position workspace based on its structural characteristics.To improve the current shortcomings of single massage equipment techniques that are not suitable for personalized rehabilitation therapy of different objects,a multi-joint multi-finger massage robotic arm has been designed.Conclusions—By studying the kinematics of the robot wrist and multi-joints and multi-fingers,the manipulation required for personalized massage physiotherapy is realized,which provides a basis for the control of kinematics and dynamic stimulation that affect the massage effect.
作者
高红卫
魏宏波
鲁开讲
GAO Hong-wei;WEI Hong-bo;LU Kai-jiang(College of Mechanical Engineering,Baoji University of Arts and Sciences,Baoji 721016,Shaanxi,China)
出处
《宝鸡文理学院学报（自然科学版）》
CAS
2023年第4期35-39,46,共6页
Journal of Baoji University of Arts and Sciences(Natural Science Edition)
基金
宝鸡市科技计划项目(2017JH2-12)。
关键词
机械臂
D-H参数
奇异位形
康复机器人
manipulator
D-H parameters
singular configuration
rehabilitation robot
