Research On Mechanical Structure Design And Control System Of Upper Limb Rehabilitation Training Robot

The aging of the population continues to aggravate,the national demand for rehabilitation medical equipment continues to rise,making it difficult to meet the existing medical resources.Rehabilitation robot can provide effective rehabilitation training for stroke patients and assist patients to recover the movement function of the affected limb.According to clinical studies,stroke causes motor dysfunction in the limbs of patients,and the first 3 months after the onset of the disease is the best period for rehabilitation training,with the most obvious rehabilitation effect.Therefore,early rehabilitation physiotherapy is particularly important,and the development of an effective rehabilitation robot is imminent.Referred to the relevant literature,this thesis summarized the current research status of rehabilitation robot,but also analyzed the main problems existing at present;Aiming at the needs of stroke patients(STROKE),the research designed the structure and system of upper limb rehabilitation training robot.The main contents are as follows:Firstly,the human body movement model is established based on the rehabilitation movement theory.According to the requirements of rehabilitation medicine and the movement law of human upper limb,the mechanical structure design of upper limb rehabilitation training robot and the hardware selection of related control system are completed through calculation.Secondly,the virtual prototype of upper limb rehabilitation training robot with reference value is formatted.The 3D model of the virtual prototype was imported into the motion analysis software ADAMS,and dynamics simulation analysis of the virtual prototype was completed based on the multi-body dynamics theory,so as to verify the effectiveness of the mechanical structure of the upper limb rehabilitation training robot and the reliability of the kinematics analysis theory.Then,the prototype of the upper limb rehabilitation training robot with practical value was machined,and the structure of the prototype was completed.According to the design of the control system,the main components such as the upper computer,the driving motor,the driving electrical appliances,the three-dimensional sensor and the five-axis card of the main EMAC station are installed.The five-axis card of the main station of EMAC is used to control the rotation of the driving motor on three axes X,Y and Z,so as to realize a variety of training modes of rehabilitation robot.In order to maximize the rehabilitation effect and the patient's active rehabilitation consciousness,the intelligent game is combined with the rehabilitation robot,and the control system is used to complete the above design.This topic studies the structure and system of the upper limb rehabilitation training robot,completing the motion analysis of the prototype and verifies the rationality of the mechanical structure design,and according to the design of the control system,realizes the control of different rehabilitation training modes to provide theoretical basis for the subsequent optimization of the rehabilitation prototype.