Kinematics Analysis And Experimental Research On A New Type Of Upper Limb Rehabilitation Robot

Stroke,commonly known as cerebral apoplexy,is a disease with high incidence,high mortality and high disability rate.According to the 2016 China Stroke Conference and the sixth national forum on cardio cerebrovascular disease,some experts pointed out that the incidence of stroke in China is increasing at an annual rate of 8.7%,and the population of the disease is young and threatens the life and health of the residents in our country seriously.Recent studies show that the early,timely,scientific and effective rehabilitation exercises can greatly improve the speed of recovery of limb movement function.The traditional treatment methods usually use one to one rehabilitation exercise training,which can not record patient's motion condition,speed and intensity,at the same time the treatment effect depends on the rehabilitation therapists work attitude and work experience.With the wider range of robot application,people gradually apply it to the field of rehabilitation medicine.In view of the upper limb rehabilitation training,a new type of parallel joint upper limb rehabilitation robot is proposed in this paper.Its kinematics,dynamics and typical trajectory are studied and simulated,and an experimental prototype is built.The main work done in this paper is as follows:1.A novel serial parallel hybrid robot was designed.Based on the D-H method,the robot's joint coordinate system was established,and the positive and inverse solutions of the robot were obtained.Using the differential transformation method,the Jacobin matrix of the robot was obtained and the singular position of the robot was calculated.The results show that in the X-Y plane,the robot has a singular configuration with a point（0,-（R+a₁））as its center and a radius of L as its center.By use of the numerical method,the projection of the working space of the robot in the X-Y plane is a sector,and the maximum radius of circle of 350mm.By use of the artificial bee colony algorithm,using the dexterity as the optimization objective function,and the robot mechanism is optimized.2.Using the Lagrange's equation,the dynamic model of the upper limb rehabilitation robot was established,and the expression of the joint driving force function was calculated.Through a specific example,and make use of the MATLAB and ADAMS software to simulate the dynamics.Comparing the results of the two simulations,we can see that the dynamic model and the virtual prototype model are established correctly.3.In order to solve the problem of stroke,this paper explored the passive exercise training mode.In this mode,patients reconstruct the central nervous system by performing some typical rehabilitation exercises.The motion simulation were performed for several typical rehabilitation trajectories.Firstly,establish the trajectory function expression and simulate the curve graph in MATLAB.Secondly,the ADAMS was used to simulate the virtual prototype to obtain the trajectory curve of the end point and the velocity and acceleration curve of the motor.The results show that the design of the mechanism is reasonable and the kinematic model is established correctly.4.An experimental platform for the upper limb rehabilitation robot was developed,and the upper computer interface was developed by C#language.The"8"shape,"0"shape,"1"shape,and"一"shape rehabilitation trajectory were experimentally verified.The experimental results show that the kinematics analysis model is correct,and the control system is stable.This study has laid a foundation for the following robot's stiffness analysis,trajectory planning,system control and so on.It has a certain guiding significance.