Design And Research Of 3-DOF Wrist Rehabilitation Robot

The 3-DOF(degrees of freedom)wrist rehabilitation robot system,described in the paper is able to serve the patients,suffering from wrist dysfunction with repetitive and efficient training to improve the function of the wrist and the quality of the life.It allows for 3-DOF wrist movements,including flexion/extension,pronation/supination and radial/ulnar,to help the patients' rehabilitation.The robot has reasonable control system to realize practical motion.Besides,the robot has small size and light weight,to make it portable used in various environments.The paper analyzes the current state and prospect of the wrist rehabilitation devices,and analyzes the advantages and drawbacks of the current rehabilitation devices to find the parts which can be developed and the indispensable parts.This paper investigates and analyses the basic theory and knowledge of medical medicine and wrist structure,and investigates the basic need of the patients.Then the paper finds out the challenges and the problems must to be solved,to make the robot system more user-friendly and the motion trail more lifelike.Besides,the paper designs a reasonable mechanical structure to serve 3degrees of freedom.And a exoskeleton-type structure is adopted,so that the device will resemble human skeleton better and allows for more reasonable working space.It is necessary to get small size and light weight during the design to make the device portable.In addition,it is important that the parts cannot be blocks of each other.The paper finishes the motion simulation and analysis of the robot system by use of UG.By analyzing the outcomes of the simulation,the mechanical structure is optimized.The robot system is proved to be practical.Besides,this paper finishes the kinematics analysis,calculates the kinematics equation.This paper designs the actuation system and the control system of the robot method,which is composed by PC,EPOS2 controller and Maxon motors driver.The device is controlled by the PC through programming by use of Microsoft Visual Studio.The paper collects and analyses the data of the motor motion to make sure the device will move under predetermined mode.