Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams

Jiqun Yu; Ning Liu; Lü Qiongying

doi:10.16578/j.issn.1004.2539.2020.11.015

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Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams

Design· Calculation | 更新时间：2022-11-10

- Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams
- Journal of Mechanical Transmission Vol. 44, Issue 11, Pages: 89-93(2020)
- 作者机构：
  
  1.长春职业技术学院机电学院，吉林长春 130022
  2.长春理工大学机电工程学院，吉林长春 130022
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.11.015
  CLC：
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于济群,刘宁,吕琼莹.基于Adams用于康复可穿戴上肢外骨骼运动学分析及仿真[J].机械传动,2020,44(11):89-93.

Yu Jiqun,Liu Ning,Qiongying Lü.Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams[J].Journal of Mechanical Transmission,2020,44(11):89-93.
于济群,刘宁,吕琼莹.基于Adams用于康复可穿戴上肢外骨骼运动学分析及仿真[J].机械传动,2020,44(11):89-93. DOI： 10.16578/j.issn.1004.2539.2020.11.015.

Yu Jiqun,Liu Ning,Qiongying Lü.Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams[J].Journal of Mechanical Transmission,2020,44(11):89-93. DOI： 10.16578/j.issn.1004.2539.2020.11.015.

摘要

为了协助上肢功能受损的肢体残障人士，开发了一种新型的外骨骼型机器人，称为上肢运动辅助机器人外骨骼，以减轻日常上肢运动并为患者提供有效的康复治疗。首先，在人机工程学上对整个可穿戴机器人进行设计建模。通过对外骨骼上肢运动学模型，建立D-H坐标，并应用拉格朗日法对其进行了动力学分析，求解出各关节的理论驱动转矩值。应用动力学分析软件Adams对机器人进行仿真，通过规划末端与能动轨迹和速度设定，得到各关节的转矩、速度、加速度的变化情况，从而逆向验证了动力学模型的正确性，为进一步优化机器人打下了基础。

Abstract

To assist physically disabled people with impaired upper limb function， a new exoskeleton robot is developed， which named motion assistive robotic-exoskeleton for superior extremity to ease daily upper limb movements and to provide effective rehabilitation therapy to the superior extremity. Firstly， the entire wearable robot is designed and modeled in ergonomics. The D-H coordinates are established by the exoskeleton upper limb kinematics model， and use Lagrange method to analyze its dynamics， and the theoretical driving torque of each joint is solved. The dynamics analysis software Adams is used to simulate the robot. By planning the end and active trajectory and speed settings， the changes of torque， speed and acceleration of each joint are obtained. The correctness of the dynamics model is verified in reverse， and the foundation for further optimization of robot is laid.

关键词

上肢外骨骼Adams仿真动力学Step函数

Keywords

Upper limb exoskeletonAdams simulationDynamicsStep function

references

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