| Conventional rigid upper limb wearable robots have the problem of overall large size of the device and poor flexibility due to the drive device.At the same time,because the elbow joint is only considered as a rotational motion sub in the mechanical structure,there is a problem that it cannot be fully adapted to the human elbow joint motion,which will lead to difficulties and discomfort when the wearer moves the elbow joint.In this paper,we propose the design of a bionic upper limb wearable robot based on the tensegrity structure,which has the characteristics of both bionic and tensegrity structure.Firstly,the bionic design method was used to analyze the motion mechanism and skeletal structure of the human upper limb elbow,and to obtain the bionic tensegrity structure model of the upper limb elbow.The stability of the structural model is derived from the equation and the analysis of the degrees of freedom,based on which the 3D model is established and the experimental prototype is manufactured.By building an experimental platform to test the upper limb wearable test prototype’s power-assist performance,reachable space and load,the results show that the structure has good adaptability and can realize upper limb power-assist and rehabilitation training.Finally,the overall design and presentation of the appearance modeling was completed by combining the research theory of perceptual engineering. |
