Desing And Simulation Analysis Of 3-DOF Rehabilitation Training Robot For Upper Limbs

With the continuous development of science and technology in the field of medical technology,the fatality rate of stroke and other major diseases has continued to decline,but the number of patients with physical disabilities caused by sequelae has gradually increased,and the demand for rehabilitation is huge.Clinical studies have shown that patients with motor dysfunction caused by stroke,undergo rehabilitation therapy in the first three months after the onset of the disease.The best rehabilitation effect is achieved,and the total effective rate of treatment is 92.4%.Therefore,early rehabilitation is particularly important.This article first reviews current research and development status of rehabilitation robots at home and abroad,and summarizes the shortcomings of current rehabilitation robots and issues that need to be resolved.It is planned to design a three-degree-of-freedom upper limb rehabilitation training robot system to provide rehabilitation training for upper limb motor dysfunction patients.Firstly,through the analysis of the basic laws of human upper limb movement,the establishment of human kinematics model,combined with the law of human upper limb movement axis to complete the overall robot movement program design and drive system design selection.Secondly,the reference coordinate system and the kinematics model are established by the DH method,and then a forward reverse one drop blood theory is solved.Then the forward and reverse kinematics analysis and verification are performed using Matlab software,and two kinds of space are completed according to the parameters of each motion variable trajectory planning.Then,completing the model of robot parts and prototype assembly though 3D modeling software.And using ADAMS software for kinematics and dynamic analysis of the virtual prototype to verify the rationality of mechanical structure design and kinematics theoretical analysis Correctness.Finally,the robot's initial prototype structure is manufactured through mechanical processing.The STC89C52 single-chip microcomputer is used to control the stepper motordriver to realize the positive and negative rotation of the motor.The hardware design of the control system of the single degree of freedom of the elbow joint is achieved and the function control of the elbow joint rehabilitation movement is achieved.Through the above-mentioned work,we completed the analysis of the virtual prototype of the rehabilitation training robot and the kinematics theoretical analysis of the robot,and completed the design of the single joint motion control system of the robot and the overall structure design of the initial prototype,which provided the theory for the subsequent multi-joint compound control data support and development platform.