%0 Journal Article
%T 新型绳驱动混联肘腕康复机器人运动学分析
%A 刘
%A 伟
%A 马志广
%A 张顺心
%A 张建军
%A 殷子琪
%J 河北工业大学学报
%D 2018
%R 10.14081/j.cnki.hgdxb.2018.04.002
%X 针对现有上肢康复机器人惯性冲击大、柔顺性和舒适性差的问题，提出一种新型绳驱动混联肘腕康复 机器人，为得到其运动学正反解，把绳驱动腕部并联机构简化为2SPS/U机构，将腕部并联机构等效为虎克铰 与肘关节康复机构串联，将整个混联机构等效为一个串联机构，基于D-H法对整个混联机构进行了位置正反 解的计算和验证.</br>Astheupperlimbrehabilitationrobothaslargeinertiaimpaction,poorflexibilityandcomfort,anovelcabledrivenseries-parallelelbowandwristrehabilitationrobotispresented．Inordertoobtaineitsinverseandforwardkine? matics,thecable-drivenwristparallelmechanismissimplifiedto2SPS/Uparallelmechanism,equivalenttohooke hingeinserieswiththeelbowrehabilitationmechanism,andthehybridmechanismisequivalenttoaserialmechanism． BasedontheD-Hmethod,theforwardandinversepositionsolutionofthehybridmechanismisgiven,andvalidatingthe correctnessofmathematicalmodels．
%K 肘腕关节康复
%K 绳驱动
%K 混联机构
%K 运动学&lt
%K /br&gt
%K elbowandwristjointrehabilitation
%K cable-driven
%K hybridmechanism
%K kinematics
%U http://zrxuebao.hebut.edu.cn//oa/darticle.aspx?type=view&id=201804002