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针对五自由度上肢康复机械手臂,建立了机械手臂位置运动学方程的正解及雅戈比矩阵,并应用ADAMS对其进行了仿真分析,确定机械手臂在任意时刻的位置及速度,分析机械手臂各机构之间的位置及运动关系,为实际的医疗康复及机构的智能控制控制提供了重要数据.
For the upper limb rehabilitation robot with five degrees of freedom, a positive solution of the kinematic equation of the robot arm and the Jacobian matrix are established. The ADAMS is used to analyze the position and velocity of the robot arm at any time. The relationship between the position and the movement provides the important data for the actual medical rehabilitation and the organization’s intelligent control and control.