Design And Research Of Upper Limb Rehabilitation Robot

At present,more than 15 million people suffer from paralysis of upper limbs due to stroke each year,they need long-term physical therapy to restore the function of the upper limbs in daily life.The upper limb rehabilitation robot can replace the doctor and provide effective upper limb rehabilitation training for the hemiplegic patients.Its appearance brings hope to disabled patients with upper limbs.And it is a hot spot at home and abroad.In this dissertation,the development status of upper limb rehabilitation robot at home and abroad is reviewed,and the shortcomings of the upper limb rehabilitation robot are analyzed.Combined with the motion characteristics of human upper limbs,a six degree of freedom robot is designed,whose axis is aligned with the axis of human joints.The principle of the three degree of freedom of shoulder joint is analyzed in detail,which makes the axis of three degrees of freedom of the shoulder joint to one point and allows the shoulder joint to realize space sphere motion;at the same time,the inner rotation / outer axis of the wrist joint is virtualized,and the joint mechanism uses circular arc guide to align the joint axis of the upper limb of the patient.Firstly,according to the structure of the upper limb rehabilitation robot,the D-H matrix modeling method is used to derive the homogeneous transformation matrix of the relative base coordinate system of the terminal actuators coordinate system of the upper limb rehabilitation robot,and then the kinematics equation of the upper limb rehabilitation robot is established.The solution of inverse kinematics is solved by means of geometric method and variable separation method.Meanwhile,the Monte Carlo method is used to solve the motion space of the upper limb rehabilitation robot,and its motion space nephogram is obtained.Secondly,the dynamic equation of the upper limb rehabilitation robot is established by using the Lagrange equation and the virtual work principle.The force and torque curves of joints are obtained by Adams simulation,the location of the mutation and the range of moments at which the forces were exerted on each joint were observed.Finally,the modeling methods and development status of pneumatic muscles are reviewed.For the complex internal structure and geometric parameters of pneumatic muscles,the static model of pneumatic muscles is obtained by using experimental data fitting method.Based on the characteristics of cylinders,a dynamic model is obtained.At the same time,according to the nonlinear characteristics of pneumatic muscle,a sliding mode controller was designed.The sinusoidal position tracking and square wave response simulation experiments were performed respectively.It was verified that the controller has good stability and fast response speed.performance.