Research On Structure And Control System Of Under-actuated Rehabilitation Manipulator

Under the dual influence of the long-term adherence to family planning and the rapid development of productivity,profound changes have taken place in China’s social age level.The resulting social aging has gradually brought tremendous challenges to the social medical and health fields.Stroke is one of the important causes of hand dyskinesia.The rehabilitation manipulator studied in this paper provides a new treatment scheme for hand rehabilitation of stroke patients.Therefore,it is of great significance to study the development status of rehabilitation manipulator,develop a new structure and control system of rehabilitation manipulator,and analyze its kinematics and dynamics characteristics from the theoretical level for the realization of hand rehabilitation of stroke patients.As the most flexible organ of human body,the degree of freedom of the hand is as high as 21.Based on the study of hand anatomy and hand feature data,a rehabilitation manipulator structure with indirect tradition as its main feature is developed.The rehabilitation manipulator can achieve 18 degrees of freedom training including flexion and extension of hand,aiming at the shortcomings in multi-finger rehabilitation training and retraction training.The structure is simple and easy to disassemble and assemble.The adaptability of different hands can be realized by replacing joint components.The kinematics model of the connecting rod is established in D-H coordinate system,which verifies the correctness of the forward and inverse solutions of the joint in a certain range.Base on the kinematics model,the dynamic model from driving space to joint space is established by Lagrange method.The virtual prototype of rehabilitation mechanical finger was built by ADAMS finite element analysis software.The key component parameters of the system were simulated and obtained,which found the foundation for the development of the control system.Compared to the development mode of transmission software system,it has the disadvantages of high test cost and difficulty in error repair.Model-based development and verification has the advantages of high automation,short development cycle,low test cost and low development difficulty.After fully analyzing the functional requirements of motor control system of rehabilitation manipulator,using Simulink to build functional requirements sub-module and configure the compiler,the application-level code of motor control system of rehabilitation manipulator is generated.After compiling the software bottom code and integrating the automatically generated code,it can be burned to the single chip computer for debugging and verification.In order to verify the feasibility of the rehabilitation manipulator,the flexion and extension function and lateral swing function of the rehabilitation manipulator were tested on the experimental platform.The feasibility and validity of the rehabilitation manipulator were verified,which provided technical basis and support for hand rehabilitation of stroke patients.