Dimension Synthesis And Structural Design Of A Spherical Four Bar Shoulder Joint Rehabilitation Training Device

In China,the phenomenon of subluxation and movement dysfunction of shoulder joint in patients,which caused by stroke,has gradually become a universal problem that affects the normal life of the middle-aged and the elderly.At present,there are quite a lot research and exploration of the rehabilitation training device for the human body upper limb,but there are a few equipments of the shoulder joint rehabilitation training.In addition,these devices have many shortcomings,such as complex structure,large number of driving devices,high cost of products and difficult to control.In this paper,spherical 4R mechanism is taken as the main research object.The differential evolution algorithm based on approximate rigid body guidance mechanism synthesis and mechanism constrained optimization is used as the main research means.The purpose of the study is to achieve the expected regularity of shoulder rehabilitation exercise.The structural design,kinematic and mechanical characteristics of a spherical four-bar type shoulder joint rehabilitation training device are completed.Firstly,by analyzing the physiological activity characteristics of the shoulder joint and the structural characteristics of the spherical 4R mechanism,the structure of the mechanism was determined and good agreement was judged between them.Secondly,the kinematic analysis model of the spherical 4R mechanism,objective function model of the mechanism of main chains and circuit was established.At the same time,the differential evolution algorithm for the optimization and synthesis of spherical 4R mechanism was established by classifying each constraint condition of the mechanism.Numerical examples show that the model is correct and feasible,and the algorithm is efficient and reliable.Based on the optimized pose parameters,using differential evolution algorithm and using the above objective function model as fitness function,the optimal size parameters satisfying the motion function demand of shoulder rehabilitation training device were worked out.Then,with man-machine engineering principle as the design criterion,the overall layout of the device was given,and the body posture model and the seat model were established.According to the optimization of size parameters and through structured design,3D models of driving mechanism,actuating mechanism,workbench and overall assembly were established.Finally,the motion trajectory of the connecting rod point was generated by SolidWorks software,and it was proved that the trajectory is basically consistent with the expected motion law.The motion simulation and analysis of the device was carried out by using ADAMS software.The static analysis of the key components in the device was carried out by ANSYS software.The results show that the device has good kinematics and mechanical properties.Spherical four-bar type shoulder joint rehabilitation training device was designed in this paper,which not only has the advantages of simple and compact structure and high motion accuracy,but also has the good kinematics performance and mechanical properties.It can meet the requirements of a given design.Therefore,the research and development of rehabilitation training device of the shoulder joint and simple structure has a definite theoretical reference and practical application value.