Structure Design And Analysis Of Mechanical Hand For Rehabilitation

A mechanical hand for rehabiliation is a kind of improving injured fingers rehabilitation more quickly, based on EBM theory and CPM theory. The application in the rehabilitation of injured fingers is a significant task. Now the research has become one of the most significant fields of Biomedical Engineering and Robotics. The purpose of multi-DOF and dexterity of mechanical hand research is to invent low-weight, small-volume, high reliability, easy control algorithm and satisfactory manipulative performance.First of all, the paper carry out an extensive research on the state-of-the-art development of mechanical hand for rehabilitation, and analyze the developing trend of mechanical hand and its default. Based on this study, the introduction of gear and space bar, solve vertical force and accuracy of rehabilitation angle. Secondly, in order to gain abound of information, we integrated Hall sensor is designed to complete none-contact measuring of base joint of finger; base-joint torque sensor with stress-measuring are designed to measure base joint torque by flexion-extension and abductio-adduction. Then static calibration of sensor is completed. Finally, based on modularization, structure of mechanical hand is designed with modularization and integration thinking, and realized integrating structure, sensor, controlling and driving circuit system.The forward kinematics was calculated with D-H method, including direct position kinematic problem and inverse kinematics problem and the constructed of Jacobian matrix. Then dynamics analysis is completed from motor output to robot end effectors. It is the basis for follow-up control study.Then kinematics simulation and dynamic simulation is completed by Virtual Prototyping software ADAMS. Two representative robot work mode, flexion and extension, adduction and abduction, are simulated. The simulation results confirm the correctness of theoretical analysis and design reasonable. Final the mechanical testing and experimentation by mechanical body is completed.