The Synthesis And Study Of Human Upper Limb Rehabilitation Robot Mechanism

This paper studied less DOF parallel mechanisms, based on the current study of thestatus quo of human upper limb robot rehabilitation mechanism, designed a human upper limbrehabilitation robot mechanism, and solved the kinematics calculations, workspace analysisand motion simulation problem, the main contents of this paper are:Firstly, the basic structure of the upper body were analyzed, including the human upperlimb size, structure and joints coordinate transformation, and analysis conditions for theestablishment of the human upper limb rehabilitation robot mechanism on this basis, fromtheory to human upper limb rehabilitation robot mechanism proposed in detail, and proposedthe requirements of design and safety.Secondly, combined with the current widespread concern on less DOF parallelmechanism and the widespread use of four-bar mechanism, the paper proposed a humanupper limb rehabilitation robot mechanism, namely the combination of3-RRS mechanismand crank rocker mechanism. Calculated the theoretical size of3-RRS mechanism and crankrocker mechanism based on the average size of an adult human upper limb, and established3D model of the human upper limb rehabilitation robot mechanism by SolidWorks software.Again, due to the3-RRS mechanism and crank rocker mechanism are usedindependently, so did the forward and reverse solution for position, velocity and accelerationanalysis of3-RRS shoulder rehabilitation robot mechanism and crank rocker elbow, wristrehabilitation robot mechanism respectively.On the basis of the kinematic analysis, usingsimulation program of Matlab software to calculate the workspace3-RRS mechanism,applying Adams software to calculate the workspace of plane motion of the crank rockermechanism, and did the related analysis.Finally, entered the drive function of3-RRS shoulder rehabilitation robot mechanism, simulate the motion displacement, velocity and acceleration curve of the handle with UGsoftware, which is in the chute. Showed the actual trajectory of the handle, and consistentwith the theoretical calculations by Matlab software, illustrated3-RRS mechanism canachieve rehabilitation of the shoulder joint. Then input different speed to the crank, comparedthe output of each marker displacement, velocity and acceleration curve by SolidWorkssoftware with the theoretical calculation by Matlab software, found that they are consistent,which made crank rocker mechanism to achieve human elbow and wrist joints of the upperlimb rehabilitation possible.