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复合式康复机械手设计
引用本文:张杰,张志军,牛兴坤,柴娜. 复合式康复机械手设计[J]. 大连交通大学学报, 2012, 33(1): 32-34
作者姓名:张杰  张志军  牛兴坤  柴娜
作者单位:沈阳理工大学机械工程学院,辽宁沈阳,110159
摘    要:为满足手臂运动功能障碍患者的康复需要,设计了一种复合式康复机械手.介绍了它的机械结构、工作原理和三种控制方式及根据D-H方法得出的康复机械手位姿的齐次变换矩阵.该康复机械手既可单独实现小臂、手掌的曲张运动又可实现小臂、手掌的联动;通过样机试验,验证了该康复机械手的基本功能,可为手臂运动功能障碍患者提供有效的康复训练.

关 键 词:机械手  齐次变换矩阵  康复训练

Design of Multiple Rehabilitation Mechanical Arms
ZHANG Jie,ZHANG Zhi-Jun,NIU Xing-kun,CHAI Na. Design of Multiple Rehabilitation Mechanical Arms[J]. Journal of Dalian Jiaotong University, 2012, 33(1): 32-34
Authors:ZHANG Jie  ZHANG Zhi-Jun  NIU Xing-kun  CHAI Na
Affiliation:(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China)
Abstract:To meet the recovery needs of arm movement function for obstacle patients,a kind of multiple rehabilitation mechanical arms is designed.The mechanical structure,working principle and three control ways and the homogeneous transformation matrix of the rehabilitation mechanical arms location and gesture based on D-H method are introduced.The rehabilitation mechanical arms can make palms and forearm curve separately or together.Through the prototype test,the basic function of rehabilitation mechanical arms is verified,providing effective rehabilitation training for arm motor dysfunction patients.
Keywords:mechanical arms  rehabilitation training  homgeneous trasformation matrix
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