The Structure Design And Research Of Multifunctional Arm Rehabilitative Robot

Among the various practical applications of medical rehabilitation, rehabilitation robot has always been one of the important topics in the field. It is also a frontier which gains much attention from countries all over the world in recent years. Multi-functional arm rehabilitation robot assists the patients to complete rehabilitation training movement of the arm through the imitation of normal upper limbs moving trajectory. It has great value of research and market prospects.This paper has designed a new type of arm rehabilitation robot. The robot structure and movement characteristics is designed and studied. The overall scheme of the robot is determined,including the mechanical structure and drive control scheme. Besides,modeling analysis is made for the kinematics and dynamics characteristics of the robot. Finally, the simulation analysis is completed to validate the feasibility of the robot structure.Firstly,according to the analysis of basic structure and movement characteristics of the upper limbs, the user requirement for the robot is put forward. Then the robot is modeled with the 3D software, Inventor, to decide its joint size, motion mode and work space.Besides, AutoCAD is used to design the 2D structure of the robot.Secondly, based on the comparison and analysis of several driving mode, the driving scheme of the robot joint is determined. Horizontal and vertical load analyses are also carried out for the robot,and the drive torque and motor power are calculated. Then a reasonable motor is chosen to drive the robot,and the driving control scheme of the DC motor is designed.Next, the robot structure is simplified using the polar coordinate form. Then the kinematics and dynamics model are created. D-H method is used to derive the forward and inverse kinematics equation, and Lagrange method is used to derive the dynamics equation.Finally, MATLAB/Simulink is used to establish the simulation model of arm rehabilitation robot to validate the kinematics model. The forward dynamics simulation based on the M function is completed to obtain the displacement/angle curve. Then the simulation analysis for the multiple joints is carried out using SimMechanics.