Structural Design and Kinematic Analysis of a 10-DOF Exoskeleton Rehabilitation Robot

Guoqiang Ge; Weifeng Zhang; Jinghan Li; Hui Wang

doi:10.16578/j.issn.1004.2539.2022.08.021

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Structural Design and Kinematic Analysis of a 10-DOF Exoskeleton Rehabilitation Robot

Test·Analysis | 更新时间：2022-09-23

- Structural Design and Kinematic Analysis of a 10-DOF Exoskeleton Rehabilitation Robot
- Journal of Mechanical Transmission Vol. 46, Issue 8, Pages: 131-138(2022)
- 作者机构：
  
  1.青岛科技大学机电工程学院，山东青岛 266061
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.08.021
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葛国强,张卫锋,李敬涵等.一种10自由度外骨骼康复机器人结构设计与运动学分析[J].机械传动,2022,46(08):131-138.

Ge Guoqiang,Zhang Weifeng,Li Jinghan,et al.Structural Design and Kinematic Analysis of a 10-DOF Exoskeleton Rehabilitation Robot[J].Journal of Mechanical Transmission,2022,46(08):131-138.
葛国强,张卫锋,李敬涵等.一种10自由度外骨骼康复机器人结构设计与运动学分析[J].机械传动,2022,46(08):131-138. DOI： 10.16578/j.issn.1004.2539.2022.08.021.

Ge Guoqiang,Zhang Weifeng,Li Jinghan,et al.Structural Design and Kinematic Analysis of a 10-DOF Exoskeleton Rehabilitation Robot[J].Journal of Mechanical Transmission,2022,46(08):131-138. DOI： 10.16578/j.issn.1004.2539.2022.08.021.

摘要

针对上肢外骨骼康复机器人功能单一、拟人化程度低及对侧互换不便的问题，基于人体解剖学，呈模块化设计了一种10自由度外骨骼康复机器人；在6个主动自由度基础上，增加4个被动自由度，既可满足多关节组合训练，又可提升其柔顺性和普适性。介绍了10自由度外骨骼上肢康复机器人的结构与特点；通过D-H法，建立运动学方程，结合Robotics Toolbox验证了运动方程的正确性；在Adams中运用Step函数获得末端质心连续平稳的运动轨迹；最后，利用蒙特卡洛法将获得的工作空间云图与人体手臂末端运动范围进行对比，验证了其工作范围的合理性。研究表明，该外骨骼康复机器人结构设计方案与数学模型可行且正确。

Abstract

Aiming at the problems of single function of upper limb exoskeleton rehabilitation robots， low degree of anthropomorphism and inconvenient interchange of contralateral sides， and based on human anatomy， a ten-degree-of-freedom （10-DOF） exoskeleton rehabilitation robot is modularly designed. Based on six active degrees of freedom， the addition of four passive degrees of freedom not only satisfies the multi-joint combination training but also improves its flexibility and universality. Firstly， the structure and characteristics of a 10-DOF exoskeleton upper limb rehabilitation robot are introduced； secondly， the D-H method is used to establish the kinematic equations， and the Robotics Toolbox is applied to verify the correctness of the motion equations； then， the step function is used in Adams to obtain the continuous and stable motion trajectory of the end centroid； finally， the Monte Carlo method is used to compare the obtained workspace cloud image with the motion range of the end of the human arm to verify the rationality of its working range. Simulation research shows that the structural design scheme and mathematical model of the exoskeleton rehabilitation robot are feasible and correct.

关键词

上肢康复机器人结构设计外骨骼运动学蒙特卡洛法

Keywords

Upper limb rehabilitation robotStructural designExoskeletonKinematicsMonte Carlo method

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