Design And Performance Analysis Of A Parallel Mechanism-Based Waist Rehabilitation Robot

The incidence of waist diseases or movement disorders has gradually increased with changes in people’s lifestyles and aging.Traditional rehabilitation treatments mainly rely on the experience and skills of rehabilitation doctors,which have issues such as high costs,low efficiency,and poor repeatability.Therefore,the demand for rehabilitation robots is gradually increasing,and the research and design of rehabilitation robots have become a new hot spot in the medical field.In this thesis,a parallel mechanism-based waist rehabilitation robot is designed to provide accurate and repeatable waist training actions for patients,reduce the physical burden on medical staff,and help patients regain waist movement and normal life ability.The main contents of this study include:Considering the structure and motion mechanism of the human waist,combined with rehabilitation medical theory,a waist rehabilitation robot is designed to realize the three-dimensional motion of the waist: flexion-extension,lateral bending,and rotation.The freedom degree of the parallel mechanism is solved using the orientation feature set and verified using the modified G-K formula.The forward and inverse solutions of the mechanism are analyzed using particle swarm optimization algorithm and closed-loop vector method implemented in Python.The velocity and acceleration curves of the driving rod are analyzed using differential calculus.Meanwhile,the first-order influence coefficients of the mechanism are obtained by differentiating the inverse solution equation with respect to time,and the singularity analysis is carried out on this basis.The kinematic performance of the parallel mechanism is simulated using Adams software.Single and compound inverse simulations of the three basic rehabilitation movements of the waist are performed to verify the correctness of the theoretical analysis.The rehabilitation effect of the waist rehabilitation robot is evaluated by observing the activity level and stretching length of the relevant muscles in the waist.The inverse kinematics of the mechanism are simulated using Anybody software to simulate the motion state of the human-machine system composed of the human body and the waist rehabilitation mechanism.By analyzing the changes in the parameters of the main muscles in the waist during user rehabilitation training,the effectiveness of muscle training and the rationality of the rehabilitation robot structure are determined.