A Design And Research Of Shoulder Rehabilitation Robot For Motion Injury

With the coming of the era of national fitness,the cases of shoulder joint injury are increasing year by year.At the same time,the demand for sports rehabilitation is also increasing.Due to the low efficiency and poor effect of the traditional rehabilitation training mode,it is not scientific and objective,and the sports rehabilitation is different from the ordinary rehabilitation goal.Therefore,there is an urgent need for a more scientific and effective rehabilitation method for shoulder joint sports injury,which can solve the practical problems of traditional physical therapy,such as subjective factors,low efficiency,and non objective evaluation index.In this paper,a shoulder rehabilitation robot for sports injury is designed and simulated.Firstly,the rehabilitation theory and physiological structure of shoulder joint were analyzed.Because the structure of shoulder joint is complex and the movement mode is diverse,the movement of shoulder joint is divided into three simple orthogonal movements.According to the research status and ergonomics of companies and universities at home and abroad,the design indicators are reasonable,feasible and advanced,which can cover grandpa’s demand for sports rehabilitation.According to the requirements,the design indexes of the robot are given,and the output torque is increased as much as possible under the premise of safety and comfort.Secondly,according to the proposed design index,the structure system of the rehabilitation robot is designed.The mechanical system includes base,adjusting module,driving module,L-shaped manipulator and half ring end.The indirect driving mode of motor,reducer and toothed synchronous belt is selected.The robot has a total of six degrees of freedom,which can meet the design index and rehabilitation needs,and solve the problem of instantaneous variability of shoulder joint.Secondly,according to the rehabilitation robot kinematics equation is established,and the D-H method is used to solve forward kinematics and inverse kinematics,and the correctness of forward kinematics equation is verified by MATLAB.Then the Lagrange method is used to analyze the dynamics of the rehabilitation robot,and the dynamic equation of the robot is established.Adams and UG software are used to simulate the kinematics and dynamics of the robot.The simulation results show that the kinematics model and dynamics model of the robot are feasible.Then the workspace of the robot is solved,and the workspace of the robot is calculated by Monte Carlo method in MATLAB.The calculation results show that the workspace of the robot is large,which can meet the needs of rehabilitation.Finally,the prototype experimental platform of the shoulder rehabilitation machine designed in this paper is built,and the important parts of the shoulder rehabilitation robot system are introduced.Firstly,the experimental study of joint angle error is carried out to test the operation of motor reducer.Then,with the dummy dolls,the single joint and multi joint shoulder rehabilitation experiments are carried out,and the data are recorded.Through the data analysis,the operation of the shoulder rehabilitation robot is verified,and the feasibility of the shoulder rehabilitation robot is verified.