文献类型：期刊文献

中文题名：手指康复外骨骼机器人的结构优化设计

英文题名：Structural Design of Finger Rehabilitation Exoskeleton Robots

作者：王杰[1];管声启[1];夏齐霄[2]

第一作者：王杰

机构：[1]西安工程大学机电工程学院;[2]北京联合大学机器人学院

第一机构：西安工程大学机电工程学院,西安710048

年份：2018

卷号：29

期号：2

起止页码：224-229

中文期刊名：中国机械工程

外文期刊名：China Mechanical Engineering

收录：CSTPCD;;EI(收录号：20184706123065);Scopus(收录号：2-s2.0-85046712897);北大核心:【北大核心2017】；CSCD:【CSCD2017_2018】；

基金：陕西省教育厅专项科研计划资助项目(16JK1337)

语种：中文

中文关键词：康复;平面连杆机构;运动学;工作空间;结构优化设计

外文关键词：rehabilitation;planar linkage mechanism;kinematics;workspace;optimized design of structure

摘要：为满足手指功能损伤患者康复的需要,设计了一种基于平面连杆机构的手指康复外骨骼机器人。通过分析仿生手指运动的自由度,建立了机器人运动学模型;以主要机械构件和手指关节转动角度为空间向量元素,求解了机器人的工作空间,在此基础上,得到各机械构件的最佳尺寸,从而完成对机械构件的结构优化设计。仿真实验表明,该机器人能带动手指在一定角度范围进行弯曲拉伸运动,可以满足手指损伤患者的康复训练需求。
In order to meet rehabilitation needs of patients with finger injury,a finger-supported exoskeletal robot was designed based on planar linkages.Firstly,a kinematics model of the robot was established by analyzing the degrees of freedom of bionic finger movements.Secondly,main mechanical components and rotation angles of finger joints were used as space vector elements to solve robot workspace.Based on these,optimum sizes of each mechanical structures were obtained,and structural optimization designs of mechanical components were completed.Simulation results show that the robot may carry out bending and stretching movements in a certain range of angles,and may meet rehabilitation training of patients with finger injury.