Design And Analysis Of A Novel Rope Drive Hybrid Elbow And Wrist Rehabilitation Robot

Elbow and wrist joints are the most vulnerable joints in daily life and require reasonable rehabilitation training after injury.In this paper,based on the characteristics of elbow and wrist joints rehabilitation,a novel rope drive hybrid elbow and wrist rehabilitation robot is presented,and its kinematics,performance and other aspects are studied.First of all,analyzed the elbow and wrist anatomy structure and mechanism of rehabilitation medicine,in principle to design(2-SPS/U)& RR series-parallel mechanism.On the basis of the configuration design,the whole structure design of the elbow and wrist rehabilitation robot is completed.The structure is composed of three parts: the mobile support device,the driving module and the elbow and wrist recovery mechanism.The driving module adopts the wire rope transmission system of the line pipe,which has the advantages of simple structure,flexible layout,and can separate the driving system and the actuator.At the same time,the elbow and wrist rehabilitation robot designed a number of size adjustment devices,which can be used for patients with different height and weight.Secondly,kinematics analysis is carried out for the novel rope drive hybrid elbow and wrist rehabilitation.Firstly,the kinematics of the wrist parallel mechanism is solved,and the correctness of the kinematics solution is verified according to the concrete examples.The motion curves of the parallel mechanism of wrist are drawn,and the results show that the moving platform can drive the rope movement smoothly with constant angular velocity,which shows the feasibility of the parallel mechanism of wrist.Then,the parallel mechanism of the wrist is equivalent to the rehabilitation mechanism of hook and elbow,which is equivalent to a series mechanism.Based on D-H method,the kinematics equation and jacobian matrix are solved,and the correctness of the kinematics equation is verified,which provides theoretical basis for the later analysis.Then,the performance analysis of the novel rope drive hybrid elbow and wrist rehabilitation robot was carried out.Considering the constraint condition of the wrist parallel mechanism,the working space of the mechanism is searched,and the scope of workspace is drawn.The results show that the workspace of the robot can meet the needs of rehabilitation training.Then the dexterity and singularity of the mechanism were analyzed,and the results showed that the mechanism was good and there was no singular configuration in the working space.In the end,a virtual prototype model of a novel rope drive hybrid elbow rehabilitation robot was established,and the trajectory planning and motion simulation of the elbow and wrist rehabilitation robot was carried out.The simulation results further verified that the mechanism had good performance and met the design requirements.The research results and conclusions provide a theoretical basis for the development and control of the prototype of elbow and wrist rehabilitation robot,and provide reference materials for the further research and development of elbow rehabilitation robot.