Design Of Upper Limb Rehabilitation Robot Based On 3-RRC Parallel Mechanism

Rehabilitation robots are products which closely combine modern science andtechnology with human rehabilitation requirements. As an important branch of therobots，it covered bio-mechanics, electronics, mechanics, robotics, and many other fieldsof science and technology. Rehabilitation robots could provide comfortable training andscientific evaluation of rehabilitation for patients. And it has far reaching socialsignificance for helpping patients’recovery and returning to society earlier.This dissertation systematically analyzes the development status and applicationstatus of the upper limb rehabilitation robots and 3-RRC parallel mechanism, determinesthe design requirements of the upper limb rehabilitation robots by the analyses of thephysical size and movement characteristics of human upper limbs, puts forward an upperlimb rehabilitation robot with passive training, active training, auxiliary training andresistance training modes based on the 3-RRC parallel mechanism.The degree of freedom of the 3-RRC parallel mechanism is analyzed, the positionequation of the mechanism is obtained by using coordinate transformation method, thevelocity eqation of the mechanism is obtained by using differential method based on theposition equation. Numerical verification of forward and inverse kinematics equation isperformed by using MATLAB and Solidworks．The workspace of the mechanism iscalculated respectively using the Masory method and Computer-aided GeometryApproach, and the correctness of workspace is validated through the results．The staticmodel of the robot is established, and it is verifyed by using the simulation software ofSolidworks．The compliance control strategy of the robot is studied. Based on theoreticalanalysis, active training mode is studied by taking the impedance control mode of forcecontrol in external loop, and resistance training mode is studied by taking the currentcontrol mode (torque control mode). Then, the control model is established．The prototype of 3-RRC parallel mechanism rehabilitation robot is developed, andthe hardware and software control platform of the control system are put up. Control strategy and control algorithm of passive training are determined according to trajectoryplanning and the related theories. At last, the simulation, experimental study and the erroranalysis of the passive training are done, and the results prove that the theoreticalanalysis is correct and the upper limb rehabilitation robot based on 3-RRC parallelmechanism is feasible.