Design And Development Of Passive Rehabilitation Robot For Upper Limb With Three Degrees Of Freedom

With the development of society, robotics has gone deep into many areas of our lives. In recent years, the robot technology applied to assisted rehabilitation therapy has become a research hotspot, and it has made certain achievements, but the study of rehabilitation robot is still in its infancy. Currently, the market has a huge demand for intelligent ergonomics of rehabilitation robot, so the study of this subject has very important applications.The thesis studies the current development at home and abroad, and it has carefully analyzed and summarized them to determine the issue of rehabilitation programs of designing robots, and then expand the work carried out as follows.During the study, by learning the causes of leading to hemiparalysis and the theoretical study of stroke rehabilitation, I have mastered some of its features, including physical performance, abnormal movement patterns and functional recovery and so on. And I have also analysed the structure and kinematics of the human upper limb. On this basis, it is positioned as a passive robot, which assists body to complete the training of arm elbow and shoulder end, it is a three-DOF rehabilitation robot. Under this program, I have completed the design of mechanical structure of the system and developed a prototype.It has also analyzed the kinematics of the system, established a kinematic model of the robot end, and verified the correctness of the results through Matlab. and verified its correctness. In addition, by setting the trajectory of the end of robot,I have done kinematics simulation based on Matlab platform, got the curve of parameters of movement from related joint of the robot and displacement curve of the end throughout the course of the campaign. In order to study its dynamic performance further, make more precise structural design and provide a more harmonious environment for human-computer interaction, I have carried out kinetic analysis and obtained the relationship of joint generalized force, velocity and acceleration.The above work done for the structure optimization and motion planning of the following robot has important guiding significance, at the same time, it has provided a technology basis for further study of upper limb rehabilitation robot control, it also has laid the foundation for the next step to develop a robot, which can achieve active and passive switching movement.