摘要
以人体上肢的生理结构为依据,设计了一个5自由度的上肢康复机器人,实现肩关节内收外展、前屈后伸及内旋外旋,肘关节前屈后伸,前臂旋前旋后的运动。同时引入一个被动自由度从而保证机器人与用户关节的对齐,增加了运动范围。按照人体尺寸标准,采用Creo绘制了机械臂的三维模型,并通过ADAMS软件进行运动学仿真,验证了结构的可行性。
The humanoid robot head mechanism is usually complex and unreliable because of its narrow space and transmissions. In order to solve the problem, this paper introduces a kind of head structure design scheme of a humanoid robot by analyzing the skeleton of human head. The head of humanoid robot has five motion modules, which can control servos to achieve a series of movement, including opening-closing movement of eyelids and jaw, left-right movement of eyes, nodding and shaking movement of the head. The experiment proves that the structure is compact and the mechanisms is feasible, which gives good matting for the future researches.
出处
《机械工程与自动化》
2017年第5期42-44,共3页
Mechanical Engineering & Automation
