Mechanism And Control System Design Of A Biobic Upper Limb Rehabilitation Robot

With the aggravation of population aging,the number of stroke patients is increasing.As an essential part of daily human life,upper limbs play a significance role in rehabilitation treatment.Traditional rehabilitation therapy is one-to-one rehabilitation training,that mean,a patient needs at least one therapist to complete rehabilitation training.In order to reduce the workload of therapists and the financial burden on patients,some researchers have proposed that the rehabilitation robots can be used to do rehabilitation training for patients instead of therapists.However,most of the existing designs of rehabilitation robot do not take the model of the therapist and the patient as the starting point,and cannot fully simulate the therapist's operation techniques.In order to solve these problems,this paper proposes a new bionic rehabilitation robot for upper limbs.This paper analyzes the research status of the upper limb rehabilitation robot at home and abroad and summarizes the design requirements of the upper limb rehabilitation robot.The physiological structure and motion characteristics of human upper limbs are analyzed,and a simplified model of arm is established.According to the interaction between patients and therapists in rehabilitation training,a rehabilitation training model is established.The mechanism design needs of the robot are proposed according to the rehabilitation training needs of patients' upper limbs.The robot has 17 degrees of freedom,which including two bionic arms with 7 degrees of freedom and the waist joint with 3 degrees of freedom.Among them,Inward/outward of the shoulder joint,extension/flexion of the shoulder joint,internal/external rotation of the shoulder joint,elbow joint,Internal/external rotation of the wrist joint,dorsiflexion/volar flexion of the wrist joint,adduction/abduction of the wrist joint.According to the size of human body,the structure model of the bionic robot is obtained in SolidWorks.This paper takes the arm as the research object,first of all,the motion law of the human arm is obtained by the grasping experiments,the kinematics analysis of the manipulator is completed by position separation method and Denavit-Hartenberg method,and then,the motion control algorithm of the manipulator can be obtained through the above analysis.Furthermore,the simulation results of Robotic Toolbox MATLAB is used to verify the correctness of the solution of inverse kinematics,at the same time,the working space of the robot arm is calculated based on the Monte Carlo method.Secondly,according to the requirements of the control system of the upper limb rehabilitation robot,the control system of the upper limb rehabilitation robot is developed by combining the robot system hardware and the robot control strategy.Finally,the functional verification test is carried out,and the feasibility of the robot control system is verified by analyzing the velocity response characteristics and position control precision of each joint.In this paper,the model machine of the bionic rehabilitation robot for upper limbs is completed,and the control algorithm of the robot arm is verified.Experiments are carried out on the velocity characteristics and position control of the joints to verify the feasibility of the control of the bionic rehabilitation robot for upper limbs.