In order to solve the existing problems that the manual operation with high risk of the electric power industry, large labor intensity and low degree of automation, combining with the existing various climbing robot a...In order to solve the existing problems that the manual operation with high risk of the electric power industry, large labor intensity and low degree of automation, combining with the existing various climbing robot at domestic and foreign, on this basis, a kind of high-altitude power-on-live robot suitable for the field is designed The model with the 3D modeling software Pro/E is established, with the help of the working principle of the robot. Adopting the mechanical dynamics simulation software ADAMS, a virtual prototype model for the whole machine and the dynamics simulation is carried out. Finally, the result demonstrates the feasibility of the design展开更多
提出一种康复机器人以健肢的运动位姿为参照带动患肢进行康复训练的方法。该方法使得机器人的运动轨迹更符合患者自身的运动习惯,实现康复训练的个性化,锻炼患者双侧肢体的协调性,提高康复训练效果。设计了一种4自由度气动上肢外骨骼康...提出一种康复机器人以健肢的运动位姿为参照带动患肢进行康复训练的方法。该方法使得机器人的运动轨迹更符合患者自身的运动习惯,实现康复训练的个性化,锻炼患者双侧肢体的协调性,提高康复训练效果。设计了一种4自由度气动上肢外骨骼康复机器人,由于机器人和上肢的自由度不同,提出了主从异构的运动映射算法。采用指数积法建立机器人运动学模型,定义机器人的等同生理关节,进行健肢和机器人之间位姿映射。对于关节活动度训练,设计了基于四元数的姿态解算和镜像求解的位置映射算法,利用健肢的独立运动关节姿态实现人-机器人之间等同关节的映射,提高映射效率。在多关节参与的日常生活活动(Activity of Daily Living,ADL)训练中,提出了肘腕分离的运动映射方法,分别以健肢大臂和小臂刚体的向量运动解算机器人肩部两个关节与肘部1个关节的旋转运动,保证了运动映射过程中的位姿精度。最后,设计康复运动跟随实验和位姿相似度验证实验,证明主从异构运动映射方法的可行性。展开更多
文摘In order to solve the existing problems that the manual operation with high risk of the electric power industry, large labor intensity and low degree of automation, combining with the existing various climbing robot at domestic and foreign, on this basis, a kind of high-altitude power-on-live robot suitable for the field is designed The model with the 3D modeling software Pro/E is established, with the help of the working principle of the robot. Adopting the mechanical dynamics simulation software ADAMS, a virtual prototype model for the whole machine and the dynamics simulation is carried out. Finally, the result demonstrates the feasibility of the design
文摘提出一种康复机器人以健肢的运动位姿为参照带动患肢进行康复训练的方法。该方法使得机器人的运动轨迹更符合患者自身的运动习惯,实现康复训练的个性化,锻炼患者双侧肢体的协调性,提高康复训练效果。设计了一种4自由度气动上肢外骨骼康复机器人,由于机器人和上肢的自由度不同,提出了主从异构的运动映射算法。采用指数积法建立机器人运动学模型,定义机器人的等同生理关节,进行健肢和机器人之间位姿映射。对于关节活动度训练,设计了基于四元数的姿态解算和镜像求解的位置映射算法,利用健肢的独立运动关节姿态实现人-机器人之间等同关节的映射,提高映射效率。在多关节参与的日常生活活动(Activity of Daily Living,ADL)训练中,提出了肘腕分离的运动映射方法,分别以健肢大臂和小臂刚体的向量运动解算机器人肩部两个关节与肘部1个关节的旋转运动,保证了运动映射过程中的位姿精度。最后,设计康复运动跟随实验和位姿相似度验证实验,证明主从异构运动映射方法的可行性。
