上肢康复机器人结构设计和仿真分析

Structural Design and Simulation Analysis of Upper Limb Rehabilitation Robot

摘要: 针对上肢偏瘫患者进行康复训练的问题，设计了一款末端牵引式多自由度上肢康复机器人。该康复机器人可实现肩关节水平方向外展/内收、竖直方向上摆/下摆和肘关节水平方向外展/内收运动。首先根据人体解剖学确定人体各关节的运动形式和运动范围，然后根据关节运动形式和要求进行机械结构设计，并根据人体尺寸对核心结构进行选型与设计。然后通过ADAMS对模型进行仿真验算，验证模型的可行性。最后对上肢康复机器人进行运动学分析，建立起机器人末端坐标系与基坐标系之间的变换矩阵，并通过MATLAB对结果进行验证。

Abstract: In order to assist hemiplegic patients in rehabilitation training, a multi degree of freedom end trac-tion upper limb rehabilitation robot was designed. This rehabilitation robot can achieve shoulder joint horizontal abduction/adduction, vertical upward/downward swing, and elbow joint horizontal abduction/adduction movements. First, determine the motion form and range of each joint of the human body according to human anatomy, then design the mechanical structure according to the motion form and requirements of the joint, and select and design the core structure according to the size of the human body. Then, simulate and verify the feasibility of the model through ADAMS. Finally, the kinematics of the upper limb rehabilitation robot is analyzed, the transformation matrix between the end coordinate system and the base coordinate system of the robot is established, and the results are verified by MATLAB.