Design And Research Of Upper Limb Rehabilitation Robot

At present,upper extremity hemiplegia caused a serious threat to human health by stroke.Most people who have the disease will have different degrees of motor dysfunction and cannot effectively control their limbs.The application research of the rehabilitation robot system has leading a new and effective way for the rehabilitation training of upper limb hemiplegia patients,which can make up for many deficiencies in the clinical rehabilitation exercise treatment process.Therefore,it is designed a five-degree-of-freedom upper limb rehabilitation robot(ULRR)for patients with hemiplegia in the middle and late stages in this paper.The main contents are as follows:(1)Based on the theory of hemiplegia rehabilitation,it is analyzed that the abnormal movement patterns of upper limb hemiplegia patients,and chose different rehabilitation therapy according to different rehabilitation stages.Based on the knowledge of human anatomy,the joint configuration and basic motion form of the upper limbs are analyzed,and the motion range of each joint of the upper limbs are determined.(2)Based on the motion characteristics of the upper limbs of the human body and the principles of ergonomics,the design requirements of the ULRR are proposed,and the degrees of freedom of the robot are determined.Based on the modularization,it is completed that the design of each joint motion and gravity compensation module of the robot.The shoulder joint structure can improve the efficiency of adduction/abduction movement in the coronal plane,and the gravity compensation device improves the safety of the robot.On this basis,the drive parameters of each joint are determined,and the selection of drive components such as motors and reducers are completed.(3)Aiming at the structural applicability of the ULRR,the kinematic model of the ULRR is established by using the D-H parameter method.According to the space coordinate vector change relationship,the forward kinematic equation is solved.The inverse kinematics equations and the Jacobian matrix are solved based on the inverse transformation method and the forward kinematics results.Based on the random sampling function of Monte Carlo method,a certain number of numerical points in the actuator space are solved which is determine the working space of the robot.Based on Adams,the kinematics simulation analysis of the ULRR is completed to verify the rationality of the structural design of the ULRR.(4)Aiming at the motion stability of the ULRR,the dynamic model of the ULRR is established based on the Lagrangian method,and the dynamic equation is derived.Based on Adams,the dynamic simulation analysis of the ULRR is completed,and the selection of driving components such as motors are verified to meet the requirements.Based on the quintic polynomial interpolation method in joint space and the linear interpolation method in Cartesian space,the trajectory planning of the ULRR is completed.The trajectory planning simulation analysis is carried out based on MATLAB which verify the continuity and stability of the motion of the ULRR.(5)Based on the ULRR and 3D motion capture system,measure the range of motion angle of each joint of the upper limb.The experimental platform of ULRR is built,and the single-joint passive rehabilitation training experiment,the multi-joint passive rehabilitation training experiment and the active rehabilitation training experiment are completed to verify the correctness of the proposed theory and the rationality of the structural design.