Design And Verification Of Suspension Multi-freedom Upper Limb Rehabilitation Robotic Body

Rehabilitation training for patients with stroke has become a hot topic in modern rehabilitation medicine and rehabilitation engineering because the incidence of stroke is increasing year by year.With the development of robotics technology,more and more attentions are now paid on rehabilitation robot for patients with stroke,which not only solve the shortages of rehabilitation physician,but also shorten the recovery period and improve the effect of rehabilitation.Since the majority of patients with stroke have upper limb dysfunction,it has important theoretical significance and demand to research on upper limb rehabilitative robot.This work has been supported by major research and development projects of major theme of artificial intelligence technology innovation in Chongqing.In order to achieve a wide range of rehabilitation exercises and solve the problem that the current the upper limb rehabilitation robot has a large inertia impact,a multi degree of freedom suspension type upper limb rehabilitation robot based on rope traction has been designed.The main researches are listed below:1.Combined with the pathological features of hemiplegic upper limb,rehabilitation theory and treatment methods,the design requirements of the upper limb rehabilitation robot were proposed from the medical point of view.Moreover,the kinematic relationship of the upper limb joints was determined,and the range of motion domain for the upper limb was solved.2.In view of the problems existing in the upper limb rehabilitation robot,and based on the design of the hybrid mechanism,a mechanism scheme design of a multi degree of freedom suspension robot for upper limbs based on rope traction is proposed,which has characteristics of multi degree of freedom,flexible elasticity and large motion range.3.Based on the concept of modular design,the structure of the upper limb rehabilitation robot is divided into sliding module,suspension system,support frame and safety device and other functional modules,and the design of each functional module has been completed.On this foundation the kinematics analysis of the robot is completed and the only solution of the inverse kinematics of the robot is obtained,which is prepared for the follow-up experimental control.4.To ensure the safety and stability of the mechanical structure in the process of rehabilitation,the static and dynamic characteristics of the mechanical structure are analyzed by the finite element analysis theory.Considering the economy of the product prototype,the lightweight optimization design method is used to optimize the supporting frame.The optimization results show that the weight of the supporting frame is 48% less than the initial value.And the optimization effect is obvious.Secondly,the finite element modal analysis of the body rack is carried out,and its inherent characteristics and weak points are obtained,which is prepare for the later structure optimization and control strategy.5.In order to carry out preliminary experimental verification of the developed rehabilitation robot for the upper limb,the control system is designed and the product prototype is built.The action control of rehabilitative experiment is completed in KEIL.Finally,the experimental results show that the developed upper limb rehabilitation robot prototype can achieve the established functions,and has certain advantages in structure compared with the existing similar products.Optimization schemes is proposed according the problems existing in the designed machine.