Design And Research Of Upper Limb Rehabilitation Robot

Nowadays,there are huge gaps between China’s rehabilitation medical equipment and clinical needs,only rely on the traditional rehabilitation can’t satisfy the actual demand.Therefore,based on the above background,this dissertation designs a shoulder-elbow rehabilitation robot for upper limb dysfunction patients.Firstly,based on the human anatomy to analyze the physiological structure of the human upper limbs,and according to that the number of degrees of freedom of the upper extremity rehabilitation robot and the arrangement plan of the mechanism are determined.In order to solve the problem of the shoulder joint.misfit,a floating shoulder joint center robot mechanical structure scheme is designed.Secondly,through the D-H method to derive the homogeneous transformation matrix and establish the kinematics model of upper limb rehabilitation robot.Using MATLAB and ADAMS simulation to obtain the robot end trajectory map,and the consistent image trajectories proves that the robot kinematics model is correct.Using Monte Carlo method to analyze the workspace of the robot,which verify that the workspace can meet the needs of human rehabilitation training.Thirdly,the Lagrange dynamic equations are derived from the kinetic and potential energy expressions of the limb rehabilitation robot.Using the upper limb data from the Opensim human skeletal muscle model to perform inverse dynamics simulation on the ADAMS,which Verifies the rationality of robot drive joint design.Finally,based on the kinematics and dynamics analysis results,a fuzzy PID position control strategy for joint drive unit is proposed.Through the Simulink to simulate the fuzzy PID control algorithm of the motor model,the simulation results indicate that the control system can satisfy the requirements of rehabilitation robots.