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3DOF串并混联上肢康复机器人的运动学及工作空间分析 Title:KinematicsandWorkspaceAnalysisofa3DOFSerial-ParallelHybridUpperLimbRehabilitationRobot Abstract: Thispaperpresentsacomprehensivestudyonthekinematicsandworkspaceanalysisofa3DOFserial-parallelhybridupperlimbrehabilitationrobot.Theprimaryobjectiveofthisresearchistoanalyzetherobot'sabilitytofacilitateeffectiveandefficientupperlimbrehabilitationbasedonitsdesignandmotioncapabilities.Thestudyinvolvesthederivationofkinematicequationsandanalysisoftherobot'sworkspacetodetermineitsrangeofmotionandpracticallimitations.Thefindingsofthisresearchwillcontributetothefurtherdevelopmentandoptimizationofupperlimbrehabilitationrobots,ultimatelyenhancingpatientoutcomesinthefieldofrehabilitation. Keywords:3DOF,serial-parallelhybrid,upperlimbrehabilitationrobot,kinematics,workspaceanalysis 1.Introduction Upperlimbrehabilitationplaysacrucialroleinimprovingthefunctionalabilitiesofindividualswithmotorimpairments.Thedevelopmentofroboticsystemstoassistandaugmentrehabilitationeffortshasgainedsignificantattentioninrecentyears.Thispaperfocusesonthekinematicsandworkspaceanalysisofa3DOFserial-parallelhybridupperlimbrehabilitationrobot.Bystudyingtherobot'smechanicalstructureandanalyzingitsmotioncapabilities,weaimtoprovideusefulinsightsforthedesignandoptimizationofsimilarrobots. 2.KinematicAnalysis 2.1SerialComponent Theserialcomponentoftherobotconsistsofthreerotationaljointsresponsibleforthemovementoftheupperlimb.Kinematicequationsarederivedtorelatethejointanglestothepositionandorientationoftheend-effector.TheDenavit-Hartenberg(DH)parametersareutilizedtoestablishthecoordinateframesanddescribethekinematicrelationshipbetweenadjacentlinks. 2.2ParallelComponent Theparallelcomponentoftherobotprovidesadditionalstabilityandcontrolduringrehabilitationexercises.Thekinematicanalysisofthiscomponentfocusesondeterminingthejointanglesrequiredtoachieveadesiredend-effectorpositionandorientation.Theinversekinematicsproblemissolvedbycombiningtheindividualkinematicequationsoftheserialan