A Study Of Cable-driven Robot For Upper Limbs Rehabilitation

Based on the latest research of the robot for upper limbs rehabilitation and the cable-driven robot, combined the analysis of the traditional series robot with the structure and treatment of upper limbs, we proposed a 5-degree of freedom(DOF) cable-driven robot for upper limbs rehabilitation. Due to the increasing number of the patients with upper limb movement, the requirement and demand for upper limb rehabilitation robot on the field of rehabilitation treatment are becoming much bigger. The high demand of stability and comfort of the robot for upper limbs rehabilitation could be met by the cable-driven robot. A cable-driven upper limbs rehabilitation robot was designed and analyzed.In this thesis, the development and status of the robot for upper limbs rehabilitation was summarized. The structure and kinematic characteristics of the upper limbs were analyzed. The analysis aim and the example referring to the rehabilitation treatment method for the upper limbs were presented. The mechanical structure of the cable-driven robot for upper limbs rehabilitation was designed, of which, the inertia was cut down by the cable-driven robot and the desired movement of upper limb rehabilitation robot was able to achieve by a small tension. The element to attach the upper limbs to the robot was designed to meet the requirements of security and comfort. The analysis methods of the kinematics and dynamics about the robot and the analysis methods of the cable-driven robot were introduced. We derive the mathematical model of the robot and presented the solution of the forward kinematics and the inverse kinematics. The ideal motion space was achieved and the same to the real workspace, which was obtained by the mechanical equilibrium equation and the tension limit of the cable. Thereafter, a simulation was given. The changing of the length of the cable was calculated and the continuity of the changing was also proved. The model was built by Solidworks and the results which computed by Matlab and Adams were compared to prove its correctness. Then the Lagrangian dynamics equation of the robot was established and the dynamic torque of every joint was calculated. The analysis of dynamics was done by using Adams. The deviation of the result was analyzed. Then, two results of the tension of the cable were got. One of the results was got by calculating the dynamical equation, and the other one was got by the simulation of Simulink-Adams. Then the deviation of the two results was analyzed. The feasibility of the cable-driven robot for upper limbs rehabilitation is proved.