人体上肢是个极其复杂的运动系统,其运动具有复杂性和随意性.研究上肢外骨骼的运动特性为手臂外骨骼的设计提供了重要的参数依据和指导意义.提出了四自由度外骨骼机构并论述了其合理性,建立了四自由度的上肢模型及其运动学方程.运用逆向运动学的方法在多种运动轨迹下对上肢运动进行仿真,并对各机构之间运动关系进行测量和分析.仿真结果为外骨骼系统的智能控制及康复训练提供了有效的参考依据.%The human ann is a very complex motion system, the motion is complexity and randomly.Researching the motion characteristic of exoskeleton arm will povide important parameter refernce and guidance meaning for the design of arm exoskeleton.A 4-DOF arm exoskeleton is put forward and its rationality, built a 4-DOF upper limb modle and the kinematics equations are discussed.Using the method of inverse kinematics in a variety of trajectory simulation of upper limb movement, and the relationship between agencies movement are measured and analyzesd.The simulation result povides an effective reference to the intelligent control and rehabilitation training of arm exoskeletons.
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