CAJ | 학술논문

　　为解决现有上肢康复机器人功能单一以及结构复杂的问题，提出了一种6-DOF外骨骼式上肢康复机器人，建立了康复机器人的运动学模型，通过D-H变换对其正向运动学和逆向运动学进行求解。运用Pro/E对康复机器人进行三维建模，通过Mechanism/Pro导入ADAMS/view中进行运动学仿真，得到机器人末端位移的仿真曲线和理论曲线一致，验证了理论推导的正确性，进一步仿真结果证明该方案具有较好的运动特性。
　　위해결현유상지강복궤기인공능단일이급결구복잡적문제，제출료일충6-DOF외골격식상지강복궤기인，건립료강복궤기인적운동학모형，통과D-H변환대기정향운동학화역향운동학진행구해。운용Pro/E대강복궤기인진행삼유건모，통과Mechanism/Pro도입ADAMS/view중진행운동학방진，득도궤기인말단위이적방진곡선화이론곡선일치，험증료이론추도적정학성，진일보방진결과증명해방안구유교호적운동특성。
In order to solve the problems that the exiting upper-limbed rehabilitation robot has sole function and complicated structure ,a 6-DOF exoskeleton upper-limbed rehabilitation robot is put forward according to the structure of upper limb of the human body .The kinematics model of the rehabilitation robot was established ,and kinematics positive and inverse solutions were solved by D-H transformation . Three dimensional model of the rehabilitation robot was created by Pro/E and was imported into ADAMS/view for the kinematics simulation by Mechanism/Pro . The obtained simulation position curves are consistent with the theoretical position curves ,verif-ying the correctness of the theoretical derivation .Further results of the simulation proves the smooth movement characteristics of the scheme .