具有广义肩关节的上肢康复机器人优化设计

doi:10.3969/j.issn.1000-1093.2021.11.022

摘要/Abstract

摘要： 肩关节作为上肢运动的基础，肩关节康复训练范围的大小是决定上肢整体康复效果的重要因素。为帮助上肢残障患者进行康复训练，设计一种具有广义肩关节的康复机器人，该机器人的肩关节具有6个自由度，与人体生理结构上的肩胛带复合结构相协调。现有康复机械臂存在肩关节驱动数量多、工作空间小的问题，为此在给定工作空间条件下对机械臂肩关节转动轴线夹角进行了优化设计。利用指数积公式和Paden-Kahan子问题计算方法分别求解康复机器人盂肱关节的3个转动副运动学正反解，提出一种角度评价指标优化转动轴线夹角的方法。结合MATLAB软件分析机械臂盂肱关节与人体的干涉情况，给出机器人盂肱关节相对于人体的最优安装位姿。求解整个6自由度肩关节康复机器人的运动学正反解，通过实验验证了优化后的机器人盂肱关节结构比传统正交结构在相同安装空间下可达运动空间更大。结果表明，优化后的6自由度肩关节康复机器人，具有在较小安装空间内实现较大活动范围的特点。

关键词: 上肢康复机器人, 广义肩关节, 盂肱关节, 机械臂, 运动学

Abstract: The shoulder joint is an important part of upper limb movement, and the range of shoulder joint rehabilitation training is one of the essential considerations to determine the rehabilitation effect of patients. A rehabilitation robot with a generalized shoulder joint is designed to help the patients with upper limb disability do rehabilitation training. The robot has six degrees of freedom (DOF) in the shoulder joint, which is coordinated with the shoulder girdle composite structure of human physiological system. In order to solve the problems that the existing rehabilitation robot arm shoulder joint has a small workspace and many joint motors, the included angle of shoulder joint axis of robot arm under the given workspace is optimally designed. The forward and inverse kinematic equations of three rotation pairs of rehabilitation robot glenohumeral joints are solved by using the exponential product formula and the Paden-Kahan subproblem calculation method, respectively. An angle evaluation index is proposed to optimize the included angle of rotation axis. The interference between the body and the robot's glenohumeral joint is analyzed by the software MATLAB, and the optimal installation position and orientation of robot relative to the body are determined. Finally, the forward and inverse kinematic equations of 6-DOF shoulder rehabilitation robot are derived. The experiment verifies that the optimized robot glenohumeral joint can reach more motion space under the same installation space compared with the traditional orthogonal structure. The result shows that the optimized 6-DOF shoulder rehabilitation robot structure has a smaller installation space and larger moving space.

Key words: upperlimbrehabilitationrobot, generalizedshoulderjoint, glenohumeraljoint, robotarm, kinematics

中图分类号:

TP242.3

严浩, 王洪波, 陈鹏, 张雷雷, 李云贵. 具有广义肩关节的上肢康复机器人优化设计[J]. 兵工学报, 2021, 42(11): 2491-2502.

YAN Hao, WANG Hongbo, CHEN Peng, ZHANG Leilei, LI Yungui. Optimal Design of an Upper Limb Rehabilitation Robot with Generalized Shoulder Joint[J]. Acta Armamentarii, 2021, 42(11): 2491-2502.

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