Function Design And Analysis Of Prosthesis Robot

The present paper mainly had carried on the elaboration to some research works of the prosthesis robot. In the view of the prosthesis robot's structure and the working space request, the organization overall shaping design was completed to prosthesis robot, which arm was designed as a mechanism had 6 degrees of freedom,which increasing the working space of the robot, and making the robot's overall construction size was more compact.Introduced the whole structure, the motion of each joint and the driving mode.According to the request of the gravitational moment caused by motion and the greatest pressure of the linear motor, the optimized design mathematical model was separately established for each important working part of the prosthesis robot. Using the mixed penalty function method, the optimal solution for situation was obtained, which substituted with the simulation program to get the simulation.The composition of the linkage and the rotation angle of the joint were introduced. In the view of the prosthesis robot's structural style, used the application of D-H coordinate transformation method, the joint-link coordinates of the robot was established, and the link parameters was showed. Forward kinematics equation was solved using the homogeneous transform equation. Then jacobian matrix about the action of the robot was solved, and the effective work space of the robot had been analyzed with the Monte Carlo law by Matlab emulation program. Using the algebraic method, the inverse kinematics equation was solved.Established had the prosthesis robot virtual prototype model by SolidWorks. Through completed the modeling and the working condition dynamic emulation using the virtual prototype, we can get the greatest gravitational moment of shoulder joint and elbow joint in rotated, and provide the basis for the choice of the linear motor in elbow joint and shoulder joint.