Study on Structure Design and Simulation of Upper-Limb Assist Robot

被引：0
|
作者：
Cao Xiaolei [1 ]
Li Hui [2 ]
Jiang Zhihong [2 ]
Hua Jianning [2 ]
Sun Peng [3 ]
Wang Rufen [3 ]
机构：
[1] Beijing Inst Technol, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China
[2] Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China
[3] Tianjin Lizhong Alloy Grp Co Ltd, Tianjin 300000, Peoples R China
来源：
2018 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR) | 2018年
基金：
中国国家自然科学基金;
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article mainly analyzes the movement principle of the human upper limb from the practical point of view. According to the structural characteristics and functional requirements of the human upper-limb, a structural scheme of the upper limb assist robot is designed. Using the link coordinate system method, a simplified diagram of the link coordinate system of the upper-body assist robot was established, and the kinematics model of the robot was constructed. The robot was studied for forward kinematics and inverse kinematics, and derived the robot Jacobian matrix. The graphic method was used to analyze the workspace and the effect of the size of the robot's workspace and the length of the rod on the workspace was illustrated. Finally, the robot was simulated by MATLAB software, which verifies the rationality and correctness of the robot structure design and movement analysis, and provides theoretical and data basis for the follow-up research of the robot.
引用
收藏
页码：303 / 308
页数：6
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