基于心肺复苏用途的上肢外骨骼助力机器人仿真研究

针对心肺复苏助力用途,设计了一种新型的上肢外骨骼助力机器人.以D-H矩阵为基础建立了上肢外骨骼助力机器人的运动学方程,得到机器人末端点的位姿矩阵并验证,利用代数解法求得逆运动学.通过Matlab编程求解出上肢外骨骼助力机器人的可达工作空间.运用ADAMS对机器人进行了运动学和动力学仿真,证明了结构的合理性以及运动学的正确性,同时动力学仿真得到的各关节最大力矩为电机选型和后续的运动控制提供依据.

The simulation study of upper-lamb exoskeleton power robot for cardiopulmonary resuscitation

A new type of upper-limb exoskeleton power robot is designed for the use of the cardiopulmonary resuscitation.Based on D-H matrix, the kinematics equation of the upper-limb exoskeleton power robot is established, the pose matrix of the end point of the robot is obtained and verified, and the inverse kinematics is obtained by algebraic method.The working space of the upper-limb exoskeleton robot is obtained by Matlab.The kinematics and dynamics simulation for the robot is accomplished by ADAMS, the rationality of the structure and the correctness of the kinematics are proved.The maximum moment of each joint obtained in the dynamic simulation can provide the basis for the motor selection and subsequent motion control.