로봇학회논문지 제14권 제4호(통권 제54호) (p.251-257)

인간의 전완 회전을 위한 원위 요척골 관절의 기구학적 모델링

Kinematic Modeling of Distal Radioulnar Joint for Human Forearm Rotation
키워드 :
Biomechanics,Forearm Modeling,Forearm Rotation,Spatial Linkage

목차

Abstract
1. 서 론
2. 관절 타입 선정
   2.1 근위 요척 관절
   2.2 원위 요척 관절
3. 기구학 해석
   3.1 모빌리티(Mobility)
   3.2 정기구학
   3.3 역기구학
4. 시뮬레이션
   4.1 제안된 전완 회전 모델
   4.2 근위 요골 관절의 기구학적 제한
5. 결 론
References

초록

This paper presents the kinematic modeling of the human forearm rotation constructed with a spatial four-bar linkage. Especially, a circumduction of the distal ulna is modeled for a minimal displacement of the position of the hand during the forearm rotation from the supination to the pronation. To establish its model, four joint types of the four-bar linkage are, firstly, assigned with the reasonable grounds, and then the spatial linkage having the URUU (Universal-Revolute-Universal-Universal) joint type is proposed. Kinematic analysis is conducted to show the behavior of the distal radio-ulna as well as to evaluate the angular displacements of all the joints. From the simulation result, it is, finally, revealed that the URUU spatial linkage can be substituted for the URUR (Universal-Revolute-Universal-Revolute) spatial linkage by a kinematic constraint.