The Design Of Exoskeleton Upper Limb Rehabilitation Robot With6-DOF

Stroke usually causes diseases or sequelae such as hemiplegia resulting patients’ movement dysfunction of limbs in one side. In recent years, the emergence of new robots that we call them rehabilitation training robot can provide patients with effective rehabilitation training and promote the recovery of limb motor function effectively, so the demands on rehabilitation robot are growing in society. Rehabilitation training robot is a new recovery medical treatment combining robotics and rehabilitation training needs.The upper limb rehabilitation training among the human body recovery is relatively complex, and the existing rehabilitation equipment failed to meet the demand of patients. This article mainly aims at upper limb rehabilitation training of human body, and designs a new type exoskeleton rehabilitation training robot.In this article, the present development situation of the upper limb rehabilitation training robots at home and abroad and the characteristics of the hemiplegia after stroke are analyzed firstly, then combined with rehabilitation medicine theory about rehabilitation training method and process, finally summed up a set of design requirements of upper limb rehabilitation training robot. According to this requirement, design a new type of exoskeleton upper limbs rehabilitation training robot. The robot possesses six degrees of freedom (shoulder joint with three, elbow joint with1, wrist joint with2), the movement of it adapts to the real arm and it can effectively simulate the movement of human upper limb.In view of the robot mechanism, analyze the actuator of rehabilitation robot kinematics by D-H method and geometric method, and obtain the equations of positive and inverse kinematics of rehabilitation robot arm. Solve the positive kinematics equations by Matlab, and verify the accuracy of the solution by motion simulation of Adams. Solving the inverse kinematics solution, in this paper, apply a method with the integrated use of geometric method and separation of variables method. Then verify the feasibility of this method and the accuracy of the calculation results by two examples. The mechanism motion space is solved by using the MonteCarlo method, the2D and3D work space graphs are obtained through the Matlab programming.A flexible drive system is designed by adopting the steel wire rope together with hosepipe. The system can effectively separate drives and actuators, which makes the design compact structure, smart and have higher working efficiency. Some proposals about hosepipe space layout have been put forward after analyzing the transmission characteristics of steel wire rope and distribution rules of hosepipe. Using pneumatic drive, rehabilitation exercise can be more smooth and safe.Combined with rehabilitation training demand and the development trend of science and technology, in view of the functional development and rehabilitation control some prospects have been proposed. Finally, further verify the feasibility and the practicability of the movement function of the robot by the experimental prototype.