KINEMATIC CHARACTERISTICS ANALYSIS OF RIGID⁃FLEXIBLE COUPLING SERIES⁃PARALLEL REHABILITATION MANIPULATOR

LI WenXia; ZHAO ZhiGang; ZHAO XiangTang; CHEN YiFan

doi:10.16579/j.issn.1001.9669.2024.04.026

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KINEMATIC CHARACTERISTICS ANALYSIS OF RIGID⁃FLEXIBLE COUPLING SERIES⁃PARALLEL REHABILITATION MANIPULATOR

Design · Calculation | 更新时间：2024-12-26

- KINEMATIC CHARACTERISTICS ANALYSIS OF RIGID⁃FLEXIBLE COUPLING SERIES⁃PARALLEL REHABILITATION MANIPULATOR
- Journal of Mechanical Strength Vol. 46, Issue 4, Pages: 952-958(2024)
- 作者机构：
  
  1. 兰州交通大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16579/j.issn.1001.9669.2024.04.026
  CLC： TP241.3
- Published：15 August 2024，
- 稿件说明：
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LI WENXIA, ZHAO ZHIGANG, ZHAO XIANGTANG, et al. KINEMATIC CHARACTERISTICS ANALYSIS OF RIGID⁃FLEXIBLE COUPLING SERIES⁃PARALLEL REHABILITATION MANIPULATOR. [J]. Journal of mechanical strength , 2024, 46(4): 952-958.
DOI：

LI WENXIA, ZHAO ZHIGANG, ZHAO XIANGTANG, et al. KINEMATIC CHARACTERISTICS ANALYSIS OF RIGID⁃FLEXIBLE COUPLING SERIES⁃PARALLEL REHABILITATION MANIPULATOR. [J]. Journal of mechanical strength , 2024, 46(4): 952-958. DOI： 10.16579/j.issn.1001.9669.2024.04.026.

摘要

针对目前大多数上肢康复机器人在结构上存在的不足

首先

设计了一种兼具绳索驱动和并联机构优点的4自由度刚柔耦合串并联康复机械臂。其次

在基于此康复机械臂绳索空间和关节空间映射关系的条件下

运用D⁃H坐标法建立了康复机械臂的运动学模型。最后

在Matlab环境下

仿真分析了各关节角与绳长、速度随时间变化的关系曲线。分析结果表明

该刚柔耦合串并联康复机械臂结构设计的合理性

也为分析康复机械臂的轨迹规划问题提供理论基础。

Abstract

Aiming at the shortcomings of most of the current upper limb rehabilitation robots

this paper first designed a 4-DOF rigid⁃flexible coupled series⁃parallel rehabilitation robot arm with the advantages of rope drive and parallel structure.Secondly

under the condition of mapping relationship with joint space

the kinematic model of the rehabilitation manipulator was established by using the D⁃H coordinate method.Finally

in the Matlab environment

the relation between each joint angle

rope length and speed with time was simulated and analyzed.The analysis results show that the rationality of the structural design of the rigid⁃flexible coupling series⁃parallel rehabilitation manipulator is presented

and it also provides a theoretical basis for analyzing the trajectory planning of the rehabilitation manipulator.

关键词

刚柔耦合康复机械臂结构设计正逆运动学仿真分析

Keywords

Rigid-flexible couplingRehabilitation robotic armStructural designForward and inverse kinematicsSimulation analysis

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