The Design Of Upper Limbs Rehabilitation Robot Based On The Hybrid Drive

The mortality and incidence rate of stroke staying at a high level in domestic and overseas.With the development of economy,the mortality of stroke was reduced as modern medical level improves.The survivors of stroke usually appear upper limb hemiplegia,hemiplegia and other symptoms.The rehabilitation treatment costs of these symptoms become heavy burden of patients.At present,a lot of research scholars in domestic and overseas study on upper limbs rehabilitation robot in order to improve the status of rehabilitation therapy in patients with stroke.However,the most driving mode of the rehabilitation robot was relatively single: One is that each joint was directly driven by the motor,reducer and the gear,so that the weight of each joint was correspondingly increased,making the various joint drive motor load increases.The other was driven by the motor and the rope.Although the weight of each joint was reduced compared to the motor direct drive,rope drive transmission accuracy is relatively low,which is not conducive to the accuracy of the robot control.The hybrid driven upper limbs rehabilitation robot was put forward to solve this problem very well in this paper.Concrete research contents are as follows:Firstly,to design rope drive joints.In order to reduce the weight of the end of the actuator and reduced the front end of the motor load,a new rope drive joint was designed to replace the traditional motor direct drive joint.Based on the principle of rope drive joints,the structure of original power,the structure of transmission,the structure of the driving and the connecting method of the rope driven joint in the ends of wire rope were designed.The way of wire rope direct drive disc groove wheel was verified from mounting structure and driving principle.New type of wire rope pre-tightening device was designed to solve the problem which the wire rope cannot secondly preload after the installation is completed based on the analyze of wire rope pre-tightening mechanism.Secondly,the rope of steel cable joints transmission system was analyzed.The method to improve the sliding phenomenon was found through analysis the causes of wire rope drive slippage phenomenon.The size of the wire rope tension can be obtained by analyzing the stress distribution of wire rope transmission through comparing with the transmission of various theories.The wire rope was inevitably influenced by friction in the process of wire rope transmission.The relationship between the friction of the wire rope and load can be obtained in this paper through analyzing the causes of force of friction,and the friction compensation method is used to experimental studying analyze friction factor between wire rope and rope hose.The type of wire rope can be obtained according to the size of the wire rope pulling force and friction force of steel wire rope.The correctness of theoretical analysis was validated which for hybrid upper limbs rehabilitation robot research laid the theoretical basis by application of ADAMS simulation analysis on rope driven joint.Thirdly,the upper limb rehabilitation robot based on hybrid driven structural was designed.The corresponding rehabilitation training in upper limb patients with stroke were concluded which can be providing rehabilitation theory basis for the structural design of robot through analyzing the movement function obstacle caused by stroke.The scope of the activities of each joint were determined which can be providing the movement theoretical basis for the design of the robot through analysis activity space of human upper limb anatomy structure of upper limbs of shoulder joint,elbow and wrist joint.The complete of the robot was designed using Pro/E basis on all joints of robot design.Fourthly,the upper limb rehabilitation robot based on hybrid driven was analyzed at dynamics.The solving methods of the various parameters were obtained by application of robot system dynamics analysis in Lagrangian mechanics method.Application of MATLAB to draw the theory curves of the joint torque and application of ADAMS simulation to get the simulation torque curves of robot joints under the uniform velocity state.Compare two moment curve,the theoretical analysis was verified correctly.Driving torque can be obtained by using the ADAMS simulation analysis under the acceleration condition.The drive motor and adaptation etc can be determined.Finally,to explore the experiments the upper limbs rehabilitation robot based on hybrid driven.The design of the robot for processing assembly,the correctness of the design and the type selection of wire rope transfer were verified by experiment with the cable-driven joint of hybrid drive part.The correctness of the simulation torque analyze were verified through the dynamics experiment of the machine.