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Alternative TitleDesign and experimental research of a gravity-supporting device on the upper limb rehabilitation robot
杨启志1,2; 宋俊朋1; 赵金海1; 曹电锋1
Source Publication机械设计
Contribution Rank1
Funding Organization国家自然科学基金资助项目(50905077) ; 机器人学国家重点实验室开放课题资助项目(2013-O008)
Keyword上肢康复机器人 重力支撑装置 驱动力矩 动力学仿真
Other AbstractA drive motor with large driving torque was required due to the weight of robot arm and patient's cantilever in the design of upper-limb rehabilitation robot. In addition, the fluctuation of driving torque was very larger in the movement. In order to void the muscle strain, dislocation and other secondary damage of patients during the excessive torque rehabilitation training process, a new gravity-supporting system combined gas spring and tension spring to provide parts of supporting force was presented. This device could reduce the motor driving torque effectively according to the analysis. Three dimensional model of the device was established by Pro/E and was imported into ADAMS/View for the dynamic simulation. The change curve of driving torque on the condition of without or with the supporting device was obtained. The experimental data verified the application of the device that the extreme value of robot driving torque decreased over 50%.
Document Type期刊论文
Corresponding Author杨启志
Recommended Citation
GB/T 7714
杨启志,宋俊朋,赵金海,等. 一种上肢康复机器人重力支撑装置的设计与试验研究[J]. 机械设计,2016,33(3):53-57.
APA 杨启志,宋俊朋,赵金海,&曹电锋.(2016).一种上肢康复机器人重力支撑装置的设计与试验研究.机械设计,33(3),53-57.
MLA 杨启志,et al."一种上肢康复机器人重力支撑装置的设计与试验研究".机械设计 33.3(2016):53-57.
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