Based On The Adams Exoskeleton Rehabilitation Manipulator Design And Simulation Analysis

Exoskeleton rehabilitation manipulator system is one of the important branches in the field of the robots, it was a system which was similar to human hand finger joints and it’s a external system was attached to the human’s hands. In this paper, from the point of view of carrying on the analysis at human hand motion principle, according to the structure characteristics of human hand and functional requirements of wearable exoskeleton finger rehabilitation manipulator, and based on the design of machinery structure in the original exoskeleton rehabilitation manipulator, work was done as the following:1. The reviewed of the exoskeleton hand rehabilitation manipulator.The domestic and international research status of exoskeleton hand rehabilitation manipulator was introduced. Refer to the related reference material; understand the functions of the exoskeleton manipulator in the auxiliary patients for medical rehabilitation and the exoskeleton hand rehabilitation manipulator structure were designed.2. The structure design of the exoskeleton hand rehabilitation manipulator.The existing exoskeleton hand rehabilitation equipment was analyzed and refined. According to the characteristics of the man-machine cooperation and considering the human finger structure characteristics and the function of wearable exoskeleton hand rehabilitation manipulator. Using the software Pro/E, the existing exoskeleton hand rehabilitation manipulator was improved the structure of the design; the exoskeleton hand rehabilitation manipulator could assist human hand rehabilitation. The exoskeleton hand rehabilitation manipulator structure principle was illustrated in this paper.3. The kinematic analysis of exoskeleton hand rehabilitation manipulator based on ADAMS.Using the D-H method of connecting rod coordinate system, three knuckle and second knuckle exoskeleton manipulator movement model was established. Separately carried on the two cases of kinematics analysis and the two kinds of analysis results are compared. Verify the correctness of the design idea of this subject.4. The Dynamic analysis and simulation of exoskeleton hand rehabilitation manipulator.Using the second transformation method and the second order Lagrange inverse dynamics method for cxoskeletons rehabilitation manipulator to calculate out of the driving force; Based on d’Alembert’s principle of Newton-Euler’s method, the exoskeleton finger rehabilitation manipulator dynamics equation was established, exoskeletons rehabilitation manipulator joint moment was let out and the exoskeleton rehabilitation manipulator dynamics analysis was completed. The dynamic simulation of exoskeletons rehabilitation manipulator fingers in the two different hypotheses. The paper assumed the three knuckles of hands into two knuckles; the exoskeleton hand rehabilitation manipulator was designed to be the two-knuckle recovery equipment. The first kind hypothesis assumed that under the ideal condition exoskeleton manipulator two knuckle place did not have external force, after repeated test for a comfortable hand movement of the cylinder driving speed range; The second hypothesis was exoskeleton finger rehabilitation manipulator in the auxiliary patients grasping the cup in the process, two knuckles were respectively300N force, through ADAMS simulation platform are deduced the graph of two fingers drive cylinder driving force. According to the data obtained, drive cylinder power can be calculated, which will make reasonable parameters for the actual drive cylinder selection. The parameter selection for cylinder provides reasonable reference.