Research On The Structure Design And Simulation Of Three Degrees Of Freedom Arm Rehabilitation Robot

In recent years,due to the increasing degree of aging problems,stroke is becoming widely spread between the old people,upper limb paralysis caused by stroke seriously influence their lives.The traditional rehabilitation which worked by means of artificial requires a lot of manpower and resource while the treatment effect is not ideal.The appearance of upper rehabilitation robot brings light to hemiplegia with the dawn.Studies have shown that rehabilitation can reshape a particular functional at some area of the brain in the early stages of illness,allowing the patient to learn and re-learn a skill.At present,most rehabilitation robots are articulated robots,which are quite expensive and are not good for forming the marketization.To solve these problems,this paper designed a three-DOF arm rehabilitation robot that patients can lie on to carry out during rehabilitation training,just by selecting the appropriate mode and the machine carries out rehabilitation,the training environment is comfortable and safe.As a result of the selection of rectangle coordinate structure,arm rehabilitation robots don't cost much and can be easily modular produced,and can form the market.In order to achieve the training requirements,design the form of the structural of arm rehabilitation robot.The design includes structural design,driving system design and control scheme design.After completing the program,designing of the three-dimensional structure of the robot,drawing the two-dimensional drawings,manufacture the components.After modeling and simulating about kinematics and dynamics to the robot,study the trajectory interpolation and generation method of the robot.In this paper,robot training trajectories have circular,space circular,space curve,then discusse and study its interpolation mode.Carried out rehabilitation robot system's architecture with static analysis and modal analysis by using finite element analysis software ANSYS Workbench12.0.Created the prototype by using the results of the design and then test it by building semi-physical simulation platform.Arm speed planning have reached the experimental design requirements under the load condition.