| Elbow and wrist joints play an important role in human daily activities.Rehabilitation after injury usually involves a period of exercise training,so as to achieve complete rehabilitation.Based on the analysis of rehabilitative robots at home and abroad,combined with the actual needs of elbow and wrist rehabilitation,a Series-Parallel Hybrid wrist rehabilitation robot with fixed axis is developed.The following work has been carried out:First of all,an analysis has been carried out of the rehabilitation needs of the elbow wrist and the characteristics of elbow and wrist joint rehabilitation robot,a P(2URR/RRS)R mechanism has been proposed;based on the modified G-K formula,the degree of freedom of the mechanism has been analyzed;by introducing the trigonometric function to analyze the position of mechanism;take transmission efficiency of force and the working space ratio for index,the mechanism of scale synthesis has been analyzed.Secondly,the product prototype of the elbow and wrist joint robot is developed.The design requirement of rehabilitation robot is introduced,and the general design plan of rehabilitation robot is put forward.The mechanical system and electrical control system are designed respectively in detail,and the prototype of elbow wrist rehabilitation robot is built initially.Finally,according to the needs of the control of rehabilitation robot,man-machine interaction force has been collected and calculated;using passive rehabilitation mode on the PVT mode and active rehabilitation training mode based on damping compliance control of rehabilitation,research on the rehabilitation training model of elbow and wrist rehabilitation robot is developed;reply to users demand,the application and the user interface is designed;in addition,based on the system function verification experiment mentioned above,a comparative analysis of the result has been carried out. |
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