Mechanism Design And Application Research Of Elbow Rehabilitation Robot

Compared with traditional medical means,elbow rehabilitation training robot has the advantages of high training efficiency and high repeatability when it helps paralyzed patients to carry out single joint rehabilitation training.On the basis of summarizing the existing problems of elbow rehabilitation training robot,combined with the basic requirements of elbow rehabilitation training,this paper studies the mechanism design,workspace optimization and human-computer simulation analysis of elbow rehabilitation training robot.The work of this paper is as follows:1.Detailed analysis of elbow physiological parameters,motion mechanism and motion axis attributes laid the foundation for the following mechanism design and human-computer simulation analysis;with the help of optical three-dimensional motion capture system,the real motion trajectory parameters of elbow joint were collected,and on this basis,different motion periods of elbow joint were divided and the elbow joint motion trajectory curve was fitted,which is for the following people Computer simulation analysis laid the foundation.2.According to the design problems of the existing elbow rehabilitation robot and the needs of elbow rehabilitation training,a(2-PRR-S)R-PRCR parallel robot mechanism and a support mechanism which can fix the position of the forearm are designed,and the DOF characteristics of the parallel robot mechanism are verified by the rotation theory.The expressions of inverse and forward position solutions of parallel robot mechanism are derived by using the method of space geometry analysis,and then the Jacobian matrix of parallel robot mechanism is given.Then the singular configuration of the mechanism is analyzed by combining Jacobian matrix.The results show that the designed parallel drive mechanism can realize two degrees of freedom rotation motion which is orthogonal to each other.3.According to the singular configuration of the parallel mechanism,the constraint conditions of the parallel mechanism are determined,and the workspace of the parallel mechanism is analyzed.Then,with the goal of maximizing the workspace,the scale of the parallel mechanism is optimized with the help of the heritage algorithm.Aiming at the problem of axis mismatch in the process of human-machine coupling motion and the limited workspace of the parallel mechanism,an effective method is designed The double rockr mechanism with high compatibility of human-machine coupling motion is analyzed based on the mechanism.At last,the whole model of the hybrid rehabilitation training robot is established with the help of Solid Works software.The results show that the designed hybrid rehabilitation training robot can meet the requirements of working space in the process of elbow joint rehabilitation training.4.Modeling and analysis of human-machine coupling with the help of Anybody biomechanical software.Taking the equation fitted by the elbow joint trajectory data as the driving function of robot motion,the difference of physiological parameters of elbow joint primary mover muscle in the process of human-machine coupling motion is analyzed,and the rehabilitation training scheme is optimized on the premise of ensuring the safety of rehabilitation training.