The Synthesis And Kinematics Simulation Analysis Of The Anthropomorphic Mechanism Of Shoulder Rehabilitation Exoskeleton

Traditional physical therapy is an effective method for rehabilitation of upper limb dyskinesia of stroke patients.However,traditional physical rehabilitation therapy requires higher medical level of physicians,and with the increase in the number of patients,the current number of physicians can no longer meet the rehabilitation needs of patients.Rehabilitation robots can effectively make up for this part of the vacancy and can be used to improve the current traditional physical therapy conditions.Based on a full investigation of the development status of upper limb rehabilitation robots at home and abroad,this thesis designs a set of upper limb exoskeleton rehabilitation equipment with higher accuracy and repeatability,which is more in line with the law of human shoulder movement.Based on the anatomical structure of the human shoulder and the joint tissue of the shoulder,the motion forms of the bones are divided to determine the number of degrees of freedom of the upper limbs.The acromion equivalent is used to replace the glenohumeral center to determine the actual shoulder motion characteristics under scapulohumeral rhythm behavior,to simulate the shoulder motion process,and to design a five-degree-of-freedom multi-connection that realizes the relative motion relationship between the scapula,clavicle,humerus and glenohumeral center Rehabilitation of the exoskeleton mechanical structure of the shoulder.In order to solve the problems caused by the mismatch of the shoulder rotation center and the passive movement of the upper limbs under the action of non-muscle force,the parallelogram mechanism is used to solve the problem of the instantaneous mismatch of the rotation center of the man and the machine.Parallelogram mechanism transforms the rotation motion into translation motion,combined with the fixed-axis rotation joint to form a two-degree-of-freedom shoulder girdle mechanism to completely simulate the movement coordination of the shoulder girdle.The equivalent alternative of shoulder movement is adopted,the three-degree-of-freedom spherical hinge mechanism in series is used to realize the free movement of the entire shoulder joint in three-dimensional space,and the configuration angle of each joint is defined to provide patients with a reasonable maximum range.Shoulder movement.In order to meet the ergonomics and improve the general applicability,the overall size of the robot is designed,and the retractable bracket is used to adapt to the shoulder height of different patients;based on the correlation between the shoulder width and the length of the clavicle,the double helix design is adopted to adapt to the glenohumeral of different patients Center matching saves clinical adjustment time;3D modeling software is used to design human-machine matching scale to solve the passive movement of upper limbs under non-muscle force.Based on the maximum torque during abduction and upper limb biomechanics,combined with healthy people’s life movement frequency,the joint motors and reducers are selected,and the elastic body modules are connected in series to improve the compliance of the drive system.In order to improve the efficiency of the solution,the kinematics model of the robot is established by using the feature that the centerline of the spherical hinge is perpendicular to the pivot of the sternoclavicular joint,and the kinematics model of the exoskeleton robot is simplified equivalently by using the parallelogram mechanism in the kinematic difference and other features,adding auxiliary coordinates System,the simplified DH parameter table is obtained after the five-degree-of-freedom robot is transformed into six-degree-of-freedom calculation.In order to obtain the pose of the robot end effector,the improved D-H method is used to derive the robot’s forward kinematics equation,and the closed solution algebra method is used to obtain the inverse kinematics solution of each joint that meets the pose requirements.In order to verify the correctness of the robot kinematics,ADAMS and MATLAB cross-simulation verification were used,and the measurement of the elbow was created,and the calculated value and the simulation value were used to verify the kinematic consistency of the arm-raising and grasping action.Based on the analysis basis of the extreme motion space of the normal person’s shoulder and upper limbs,the two-way verification method is used to simulate the number of degrees of freedom and the motion space of the robot model,and the scapular girdle movement and upper limb abduction/adduction,internal rotation/external rotation are identified,Spatial movement angle and displacement during flexion/extension.Help stroke patients to independently carry out rehabilitation training,realize multi-time,multi-directional,multi-dimensional self-training,and lay the foundation for the development of the prototype of the shoulder exoskeleton principle of stroke patients and future clinical trials.