Kinematics Analysis And Experimental Study Of Cable-Driven Upper Limb Rehabilitation Robot

At present,there are more than 8 million people suffering from stroke in China,and75% of the patients will suffer from physical disability.In addition,the process of population aging is obviously accelerated,and the number of patients with limb motor dysfunction is gradually increasing.In addition,the number of patients with physical disabilities caused by some irresistible natural or sudden accidents is also increasing.Therefore,the early design and development of upper limb rehabilitation training robots with low cost,high efficiency and convenient use and maintenance can not only improve the overall technical level of China’s rehabilitation medical industry,but also improve people’s quality of life and happiness index,all of them have important practical significance.Aiming at the problems of the existing upper limb rehabilitation robot,such as huge training body,complex structure,poor human-machine compatibility,limited range of suitable rehabilitation training objects and single training mode,the structure design,kinematics analysis,dynamic model of cable-driven unit,control strategy simulation analysis and prototype experiment have been analyzed and studied in this paper.Firstly,through the research on the research status of upper limb rehabilitation robot and cable-driven robot,the bottleneck of the existing upper limb rehabilitation robot was analyzed.A modular design was proposed for the overall structure,simple training body mechanism,low cost,lightweight,good human-machine compatibility,and could help patients with upper extremity movement dysfunction to carry out three rehabilitation training modes: active mode,passive mode and power assisted mode of the parallel cable-driven upper limb rehabilitation robot.Secondly,according to the physiological structure of the human body,the rehabilitation training trajectory of the upper limb was planned;the kinematics of the robot was analyzed,and the controllable workspace of the 1R2 T cable-driven robot and the 3R3 T cable-driven robot were determined,and the relationship between the motion trajectory and the workspace was verified,and the variation law of the extension and contraction of each cable under different motion trajectories was obtained.Thirdly,the mechanism model and dynamic model of the cable-driven unit under different control modes were established,and the controller of the cable-driven unit was designed,and the effectiveness of the controller was verified by simulation experiments.At the same time,the force / position control simulation of the robot man-machine system was carried out,which laid the foundation for the man-machine experimental research.Finally,the prototype model of the upper limb rehabilitation training robot was built and the human-machine experiment was carried out.The position servo control experiment of the single / double cable-driven unit,the planar 1R2 T parallel cable robot position servo control experiment,the spatial 3R3 T parallel cable robot position servo control experiment and the human-machine rehabilitation training experiment were carried out respectively,the feasibility of the configuration,the accuracy of trajectory planning and the effectiveness of the controller design were verified by the experiments.It was proved that the robot could assist patients in upper limb rehabilitation training.