新型绳驱动混联肘腕康复机器人运动学分析

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.
Astheupperlimbrehabilitationrobothaslargeinertiaimpaction,poorflexibilityandcomfort,anovelcabledrivenseries-parallelelbowandwristrehabilitationrobotispresented．Inordertoobtaineitsinverseandforwardkine? matics,thecable-drivenwristparallelmechanismissimplifiedto2SPS/Uparallelmechanism,equivalenttohooke hingeinserieswiththeelbowrehabilitationmechanism,andthehybridmechanismisequivalenttoaserialmechanism． BasedontheD-Hmethod,theforwardandinversepositionsolutionofthehybridmechanismisgiven,andvalidatingthe correctnessofmathematicalmodels．