Simulation And Research On The Model Of5DOF Rehabilitation Robot For Upper Limbs

As an important branch of medical robot, rehabilitation training robot for hemiplegic upper limbs is a hot research topic both at home and abroad. Based on motor relearning programme, it combines many technology fields such as rehabilitation medicine, human anatomy, mechanics, computer science, and robotics, etc. The subject is a research of a kind of exoskeleton robot for upper limb rehabilitation whose joint correspond to those of the human body. The rehabilitative robot can simulate the rule of arm movement. It enables upper limb movement disorder patients recovered when is used together with a fixed upper limbs to drive patients do exercise.The rehabilitation robots have5DOF, which is in keeping with the movement of reality. Based on the arm movement range of Chinese adults, the Physical dimension of upper limb rehabilitation robots is defined and the definite allowance is retained to satisfy the patient with different heights. Control accuracy is demanding to reach the perfect rehabilitation effect. In the research of rehabilitation robot for upper limbs, kinematics model is essential.The kinematics analysis of upper limb rehabilitation robots is analyzed separately by using D-H method based on coordinate transformation theory. The forward kinematics equation and inverse kinematics equation of upper limb rehabilitation robot are obtained.By analyzing the structure and motion characteristics of the upper limb rehabilitation robot, which is simplified to a space three degrees of freedom mechanical arm. The generalized joint torque of three analytical solution is solved by Lagrange equation, Newton-Euler equation and Kane equation, the results are cleaned up and compared. Kane equation is high-efficiency with less calculation, which is provided as a theoretical basis for controlling rehabilitation robot. By using SimMechanics toolbox in Matlab simulation software, kinematics and kinetics simulation models of upper limb rehabilitation robot are established by actual robot parameters. By comparing the simulation and theoretical terminal trajectory, the correctness of the establishment of the model is verified and simulated the motion of rehabilitation robots in different patients training for designing and planning for the trajectory of rehabilitation robot provides an intuitive and effective environment.