| The motor impairment caused by vestibular loss greatly affects the normal life of patients.Medical research has determined that due to the plasticity of the human brain,patients with vestibular dysfunction can improve with repetitive rehabilitation exercises.Traditional rehabilitation therapy using purely manual or manual operation of simple devices can hardly meet the requirements of vestibular function rehabilitation training in today’s society.In response to the social demand for vestibular function rehabilitation,the thesis proposes a vestibular rehabilitation system based on a 6-PSS configuration parallel mechanism,where P stands for linear vice and S stands for ball-hinged vice,focusing on kinematic modeling,workspace analysis and simulation of the parallel mechanism,and designing the parallel robot based on Solidworks.The main research contents of the thesis are as follows:For the rehabilitation needs of patients with vestibular dysfunction,a vestibular rehabilitation robot system based on the 6-PSS parallel mechanism was constructed.The rehabilitation robot was arranged symmetrically by two robots on the left and right,and the two feet of the rehabilitation patient stood on the moving platform of the parallel mechanism respectively.By controlling the parallel mechanism,it realizes the simulation of normal human walking and body twisting movements,stimulates the patient’s vestibular sensory nerve,and realizes the patient’s rehabilitation movement.Establish the kinematic model of the 6-PSS parallel mechanism,derive the kinematic forward and inverse solutions of the parallel mechanism based on the mathematical vector relationship,and carry out the example verification and simulation based on Matlab to verify the robot kinematic model,which lays a solid theoretical foundation for the subsequent solution of the 6-PSS parallel mechanism workspace.The influencing factors of 6-PSS parallel mechanism workspace were analyzed,and based on the workspace boundary search algorithm,the solution algorithm of 6-PSS parallel mechanism reachable workspace was established,and the 6-PSS parallel mechanism workspace was solved using Matlab,and the parallel mechanism workspace met the rehabilitation needs of patients with vestibular function,and the determination of the final workspace range was completed based on the The parameters of the linkage length of the parallel mechanism are selected.Establish the dynamics analysis of the single chain of 6-PSS parallel mechanism,solve the dynamics based on the Lagrangian function,derive the motion speed and rotation speed of the center of mass of each single chain link,as well as the part of the force acting on the moving platform of the 6-PSS parallel mechanism and the driving force that should be applied to the moving slide,and simulate the robot dynamics using ADAMS to provide the design and motion control of the robot.Theoretical basis for robot design and motion control.Based on the aforementioned theoretical research results,complete the selection of servo motors,reducers,synchronous belts and linear guides,establish the 3D model of the vestibular rehabilitation robot based on Solidworks,carry out the design of the 6-PSS vestibular rehabilitation parallel robot,and complete the drawing of the 3D model of the vestibular rehabilitation robot. |
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