Design And Simulation Of The 6DOF Exoskeleton Upper Limb Rehabilitation Robot

Stroke usually causes diseases such as hemiplegia and movement dysfunction of limbs in one side,which have brought the hurt both physically and mentally on paitens and a heavy burden on families and society.In recent years,the emergence of rehabilitation training robot,which combines industrial robotics and rehabilitation medical theory,can with effective rehabilitation training and promote the recovery of limb motor function effectively.Rehabilitation training robot provides patiens with a new recovery medical treatment,so the demands on rehabilitation training robot are growing in society.In daily life,more complex movements are usually performed by the body's upper limbs,so the rehabilitation of upper limbs is very important.In view of there is a kind of robot specially for hand rehabilitation training,so the research object of this article is mainly concentrated in the upper limbs not including the hand.However there are some defects with the existing upper limb rehabilitation training equipment such as low functional integration and complex structure.Therefore,a exoskeleton upper limb rehabilitation training robot,which has six degrees of freedom,will be designed.The actuator of the upper limb rehabilitation training robot which can be worn on the patient,is used to help the upper limb with movement dysfunction exercising movement of seven degrees of freedom.Firstly,characteristics of this kind of robot and the current main problems of the system of upper limb rehabilitation training robot are summarized,and the design goal of this article are determined based on the extensive research of existing domestic and international rehabilitation devices.Then,the structure and kinematics of the upper limbs of human body are analyzed,and the design requirements of the robot are summarized by combining the knowledge of ergonomics.In this condition,the overall design scheme of robot mechanism and the design scheme of power plant are clarified,and the driving mode is determined.Secondly,according to the designed robot,the joint coordinate system is established by using D-H rule,and the kinematics analysis of the actuator is carried out,and the kinematics model of the actuator is obtained.Combined with the amount of physical activity of each joint,the corresponding program is written in Matlab to obtain the motion path and displacement of the end.And working space cloud map of the actuator are drawed by using monte carlo method and writing the corresponding program in Matlab.Finally,based on Solidworks software,the 3D solid model of each functional part of the robot is built.In this article,the model of the and frame are introduced in detail.Then,kinematics simulation of the model of the recovery arm of the upper limb rehabilitation training robot are realized based on ADAMS software,and the accuracy of the kinematics model is verified,and the simulation curves of the displacement and velocity of the end of the recovery arm working in different training methods are obtained.