Structural Design And Analysis Of A Robot For Balance Perception Detection And Rehabilitation Training

Nowadays,a large number of people have insufficient sense of balance due to stroke,stroke,congenital balance perception organ degradation and other diseases,which seriously affects the daily activities of these patients.Therefore,there is an urgent need for a rehabilitation robot to detect and rehabilitate the human balance perception.Among many sports,cycling is highly dependent on human balance perception.Therefore,based on the principle of cycling,this paper designs a human balance perception detection and rehabilitation robot,which mainly realizes three functions: One is the detection function of human balance perception ability,which can simulate the riding posture of bicycle and collect relevant data to detect the level of human balance perception ability;The second is the rehabilitation training function of human balance perception ability.Based on the principle of cycling,the feedback of handlebars is used to stimulate patients to realize the rehabilitation training of balance perception ability;The third is the safety protection function,which can protect the safety of the operator in case of sudden accidents.This paper takes human balance perception detection and rehabilitation robot as the research object,and the main research contents are as follows:(1)Investigate the working environment of rehabilitation robot and the needs of patients,select the cycling exercise as the design principle of the whole machine,and conduct the balance exercise experiment of unmanned bicycle to explore the cycling mechanism.According to the data collected in the unmanned bicycle prototype experiment,relevant design requirements are formulated,and two sets of design schemes are formulated by using the frame of the currently commonly used rehabilitation vehicle.According to the principle of cycling and the application scenario of rehabilitation robot,the final design scheme of balance perception detection rehabilitation robot is determined.(2)According to the proposed design scheme,the handlebar structure,roll structure and safety guarantee structure of the balance perception detection rehabilitation robot are designed and analyzed,and the Solid Works software is used to establish the three-dimensional model of the relevant structures.(3)Combined with Solid Works software and ADAMS software,given the initial conditions according to the design requirements,the bicycle posture kinematics simulation and free fall kinematics simulation of the balance perception detection and rehabilitation robot under the limit load are carried out.It is verified that the whole machine can simulate the driving posture of the bicycle under the limit load and the safety guarantee function under dangerous conditions.The stress boundary conditions of the key components were obtained through post-processing analysis,and the finite element analysis of the key components was carried out to verify the safety performance of the key components under the condition of adding the stress of the boundary conditions.(4)Build the physical prototype of the balance perception testing rehabilitation robot,and do the bicycle posture movement experiment,handlebar driving experiment,free fall movement experiment and safety limit experiment according to the main functions of the balance perception testing rehabilitation robot.In this paper,based on the cycling principle of bicycle,the balance perception detection rehabilitation robot is designed,and the bicycle attitude simulation kinematic simulation and free fall kinematic simulation are carried out.According to the stress boundary conditions of kinematic analysis,the finite element analysis of key parts is carried out.Through the physical prototype experiment,The feasibility and reliability of the structure of the rehabilitation robot are verified.