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提出一种新型5自由度上肢康复机器人,以旋量理论为工具推导出了该机器人的雅克比矩阵。并应用AD-AMS对其进行了运动学仿真分析,在给定各关节速度的条件下,确定了末端执行器速度。最后把用雅克比矩阵求得的末端执行器的速度与仿真结果对比,验证了雅克比矩阵求解的正确性。为实际的康复机器人的速度控制提供了依据。
A novel 5-DOF upper limb rehabilitation robot is proposed. The Jacobian matrix of the robot is deduced by using the screw theory. The kinematic simulation analysis of the joints was carried out with AD-AMS. The end effector speed was determined given the joint velocities. Finally, the velocity of end effector obtained from Jacobi matrix is compared with the simulation results to verify the correctness of Jacobian matrix. Provides the basis for the actual speed control of rehabilitation robot.