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| 基于MATLAB的手臂康复机器人仿真研究 | |
| 引用本文： | 王岚,佟杰,邓宗全,孟庆鑫. 基于MATLAB的手臂康复机器人仿真研究[J]. 机床与液压, 2007, 35(1): 199-201 |
| 作者姓名： | 王岚 佟杰 邓宗全 孟庆鑫 |
| 作者单位： | 1. 哈尔滨工业大学机电工程学院,哈尔滨,150001;哈尔滨工程大学机电工程学院,哈尔滨,150001 2. 哈尔滨工程大学机电工程学院,哈尔滨,150001 3. 哈尔滨工业大学机电工程学院,哈尔滨,150001 |
| 基金项目： | 黑龙江国际科技合作项目 |
| 摘 要： | 手臂康复机器人通过牵引患肢按规定轨迹运动,以锻炼肌肉、恢复运动功能,实现手臂康复训练.该机器人采用极坐标形式,由电机驱动各关节协调控制实现手臂的平面运动,该机器人可以在水平面和垂直面进行手臂运动锻炼.建立了基于MATLAB的手臂康复机器人控制模型,基于虚拟现实技术进行了仿真,仿真结果说明系统达到了预期效果. |
| 关 键 词： | 手臂康复机器人 仿真 MATLAB 虚拟现实 MATLAB 康复机器人 仿真研究 Based Simulation Robot Rehabilitation 效果 预期 系统 仿真结果 基于虚拟现实技术 控制模型 运动锻炼 垂直面 水平面 平面运动 控制实现 协调 关节 |
| 文章编号： | 1001-3881(2007)1-199-3 |
| 修稿时间： | 2005-12-29 |
Research of Arm Rehabilitation Robot Simulation Based on MATLAB |
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| WANG Lan,TONG Jie,DENG Zongquan,MENG Qingxin. Research of Arm Rehabilitation Robot Simulation Based on MATLAB[J]. Machine Tool & Hydraulics, 2007, 35(1): 199-201 | |
| Authors: | WANG Lan TONG Jie DENG Zongquan MENG Qingxin |
| Affiliation: | 1. College of Mechanical and Electronic Engineering, Harbin Institute of Technology, Harbin 150001, China; 2. College of Mechanical and Electronic Engineering, Harbin Engineering University, Harbin 150001, China |
| Abstract: | Via towing the ill limbs according to the requested path,an arm rehabilitation robot can exercise the muscle as well as resume the movement function,consequently to accomplish the rehabilitation training.This robot adopts the polar coordinates form.The coordinately controlled joints are actuated by motors to realize the plane movement of the arm.It can fulfill the arm movement exercises in the horizontal and vertical plane.The control model of the arm rehabilitation robot was established,the simulation based on the virtual reality technology was made.The result illuminates the system achieves the anticipant effect. |
| Keywords: | Arm rehabilitation robot Simulation MATLAB Virtual reality |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |
