Structure Design and Kinematics Simulation of a Novel 7-DOF Upper Limb Rehabilitation Exoskeleton Robot

Tongtong Zhao; Yue Zhang; Gangsheng Cao; Chunming Xia

doi:10.16578/j.issn.1004.2539.2022.02.011

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Structure Design and Kinematics Simulation of a Novel 7-DOF Upper Limb Rehabilitation Exoskeleton Robot

Design· Calculation | 更新时间：2022-09-25

- Structure Design and Kinematics Simulation of a Novel 7-DOF Upper Limb Rehabilitation Exoskeleton Robot
- Journal of Mechanical Transmission Vol. 46, Issue 2, Pages: 66-72(2022)
- 作者机构：
  
  1.华东理工大学机械与动力工程学院，上海 200237
  2.上海工程技术大学机械与汽车工程学院，上海 201620
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.02.011
  CLC：
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赵彤彤,章悦,曹港生等.一种新型7自由度上肢康复外骨骼机器人的结构设计和运动学仿真[J].机械传动,2022,46(02):66-72.

Zhao Tongtong,Zhang Yue,Cao Gangsheng,et al.Structure Design and Kinematics Simulation of a Novel 7-DOF Upper Limb Rehabilitation Exoskeleton Robot[J].Journal of Mechanical Transmission,2022,46(02):66-72.
赵彤彤,章悦,曹港生等.一种新型7自由度上肢康复外骨骼机器人的结构设计和运动学仿真[J].机械传动,2022,46(02):66-72. DOI： 10.16578/j.issn.1004.2539.2022.02.011.

Zhao Tongtong,Zhang Yue,Cao Gangsheng,et al.Structure Design and Kinematics Simulation of a Novel 7-DOF Upper Limb Rehabilitation Exoskeleton Robot[J].Journal of Mechanical Transmission,2022,46(02):66-72. DOI： 10.16578/j.issn.1004.2539.2022.02.011.

摘要

针对现有的康复机器人在上肢重度偏瘫患者被动康复训练中存在的问题，提出了一种新型的7自由度上肢外骨骼机器人；设计了一种新型手部固定装置代替传统外骨骼的握把，可更好地实现重度偏瘫患者的腕部训练。根据外骨骼模型，使用Matlab建立了Denavit-Hartenberg（D-H）坐标系，对其工作空间进行仿真，验证了其工作空间满足设计要求，并使用Adams对外骨骼进行了动力学仿真。针对仿真中缺少患肢而导致仿真结果不符合实际的问题，采用了将患者大臂和前臂的质量添加到外骨骼大臂和前臂的质心处的新型设计方案，对该方案建立的模型进行负载特性分析，验证了机器人驱动选取的合理性。为实物样机的开发提供了理论基础。

Abstract

Aiming at the existing problems of rehabilitation robots in passive rehabilitation training for patients with severe upper limb hemiplegia， a novel 7-DOF upper limb exoskeleton robot is proposed， and a new hand fixator is designed to replace the grip of the traditional exoskeleton to better achieve the effective wrist training for patients with severe upper limb hemiplegia. According to the exoskeleton model， the Denavit-Hartenberg （D-H） coordinate system is established by using Matlab， and the workspace is simulated to verify that the workspace met the design requirements. Dynamics simulation of exoskeleton is performed by using Adams. In view of the problem that the simulation results do not conform to the reality due to the lack of the injured limb in simulation， a new design that adds the weight of the patient's upper limb to the center of mass of the exoskeleton is adopted. According to the analysis of the loading characteristics， the rationality of the selection of the robot driver is verified， which provides a theoretical basis for the development of the physical prototype.

关键词

康复训练外骨骼机器人手部固定装置动力学仿真

Keywords

Rehabilitation trainingExoskeleton robotHand fixatorDynamics simulation

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