A new type of upper-limb exoskeleton power robot is designed for the use of the cardiopulmonary resuscitation. Based on D-H matrix, the kinematics equation of the upper-limb exoskeleton power robot is established, the pose matrix of the end point of the robot is obtained and verified, and the inverse kinematics is obtained by algebraic method. The working space of the upper-limb exoskeleton robot is obtained by Matlab. The kinematics and dynamics simulation for the robot is accomplished by ADAMS, the rationality of the structure and the correctness of the kinematics are proved. The maximum moment of each joint obtained in the dynamic simulation can provide the basis for the motor selection and subsequent motion control.
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朱瑛,邹春喜,于超,樊虎.基于心肺复苏用途的上肢外骨骼助力机器人仿真研究[J].机床与液压,2017,45(12):20-25. . The simulation study of upper-lamb exoskeleton power robot for cardiopulmonary resuscitation[J]. Machine Tool & Hydraulics,2017,45(12):20-25