手指康复外骨骼机器人的结构优化设计

摘要/Abstract

摘要： 为满足手指功能损伤患者康复的需要，设计了一种基于平面连杆机构的手指康复外骨骼机器人。通过分析仿生手指运动的自由度，建立了机器人运动学模型；以主要机械构件和手指关节转动角度为空间向量元素，求解了机器人的工作空间，在此基础上，得到各机械构件的最佳尺寸，从而完成对机械构件的结构优化设计。仿真实验表明，该机器人能带动手指在一定角度范围进行弯曲拉伸运动,可以满足手指损伤患者的康复训练需求。

关键词: 康复, 平面连杆机构, 运动学, 工作空间, 结构优化设计

Abstract: In order to meet rehabilitation needs of patients with finger injury, a finger-supported exoskeletal robot was designed based on planar linkages. Firstly, a kinematics model of the robot was established by analyzing the degrees of freedom of bionic finger movements. Secondly, main mechanical components and rotation angles of finger joints were used as space vector elements to solve robot workspace. Based on these, optimum sizes of each mechanical structures were obtained, and structural optimization designs of mechanical components were completed. Simulation results show that the robot may carry out bending and stretching movements in a certain range of angles, and may meet rehabilitation training of patients with finger injury.

Key words: rehabilitation, planar linkage mechanism, kinematics, workspace, optimized design of structure

中图分类号:

TP242

王杰1;管声启1;夏齐霄2. 手指康复外骨骼机器人的结构优化设计[J]. 中国机械工程.

WANG Jie1;GUAN Shengqi1;XIA Qixiao2. Structural Design of Finger Rehabilitation Exoskeleton Robots[J]. China Mechanical Engineering.

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