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多自由度假肢运动学分析

发表时间:2011-06-15  浏览量:1359  下载量:593
全部作者: 孙高祚,樊炳辉
作者单位: 山东科技大学机械电子工程学院
摘 要: 将一种机器人型假肢设计成具有5个运动自由度和1个局部自由度的结构。通过对其结构特性进行分析,用D-H法建立假肢各连杆坐标系,并推导获得了其相对于基础坐标系的运动学正解矩阵方程。在此基础上,借助蒙特卡洛方法,分析该假肢的工作空间,并用图形的方式对其进行仿真显示。该假肢的工作空间为一椭球缺形状,工作空间形状紧凑,无空穴和空洞。
关 键 词: 康复医学;机器人;假肢结构;运动学分析;工作空间分析
Title: Analysis on kinematics of a multi degree of freedom prosthesis
Author: SUN Gaozuo, FAN Binghui
Organization: College of Mechanical and Electronic Engineering, Shandong University of Science and Technology
Abstract: The structure of a robot-prosthesis is designed with five movement degree of freedom (DOF) and a local DOF. By analysis of the structure, its coordinates of all the links are established using D-H method. The matrix equation of the kinematics relative to the foundation coordinates is derived. On this basis, by dint of Monte-Carlo method, the work space of the prosthesis is analyzed, and simulated in graphic way which shows a scarce ellipsoid shape. The work space is compact, and does not have any holes or sockets.
Key words: rehabilitation medicine; robot; prosthesis structure; kinematics analysis; work space analysis
发表期数: 2011年6月第11期
引用格式: 孙高祚,樊炳辉. 多自由度假肢运动学分析[J]. 中国科技论文在线精品论文,2011,4(11):992-996.
 
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