Structural Design And Performance Analysis Of Wrist Joint Rehabilitation Mechanism

Rehabilitation robot is the product of close combination of modern science and technology with human rehabilitation needs.As an important branch of robotics,it covers many scientific and technological fields,such as biomechanics,electronics,mechanics and robotics.Rehabilitation robot can provide comfortable rehabilitation training and scientific rehabilitation evaluation for patients.It is of great social significance for patients to be early recovery and return the society.First of all,the development and application status of wrist rehabilitation robot at home and abroad are analyzed,and the design requirements and scheme of wrist rehabilitation mechanism are determined according to the analysis results of the physiological size and movement characteristics of the human upper limb.A hybrid exoskeleton rehabilitation mechanism with 2-RPS-UPU parallel mechanism as the main body is designed for the wrist joint,which has four degrees of freedom,The flexion / dorsiflexion,adduction / abduction,internal rotation / external rotation of the wrist and the traction motion along the forearm direction can be realized respectively.The freedom and motion characteristics of the wrist rehabilitation mechanism are solved by using the screw theory.Secondly,the closed-loop vector method and Euler angle coordinate transformation method are used to solve the inverse position solution equation of the main body of the wrist joint rehabilitation mechanism 2-RPS-UPU parallel mechanism,and the particle swarm optimization algorithm is used to obtain the positive position solution of the mechanism with the help of MATLAB software;on the basis of the inverse position solution equation,the differential method is used to analyze the speed,and the Jacobian matrix of the 2-RPS-UPU parallel mechanism is obtained The working space of parallel mechanism is solved by means of rod length search method and drive static and static combination method respectively,and the correctness of the solution is verified by comparing with each other.Thirdly,the virtual prototype of the wrist rehabilitation mechanism is created by Adams and SolidWorks software.Firstly,the forward and inverse kinematics of the main part of the 2-RPS-UPU parallel mechanism is simulated by the kinematics simulation module.Then,the wrist rehabilitation mechanism is used to simulate the three motions of the wrist flexion,extension,extension and rotation,and the angle,acceleration and angular acceleration are measured.The results are as follows it shows that the wrist joint can carry out a good rehabilitation training under the function of the rehabilitation institution.Finally,a biomechanical simulation software,Anybody,is introduced.By programming,a human-computer coupling simulation system is built in the Anybody software.The rehabilitation effects of four kinds of rehabilitation movements,i.e.,palmar flexion,back extension,adduction and abduction,are analyzed.The results show that the wrist rehabilitation mechanism drives the wrist to do these four kinds of rehabilitation movements The contraction and muscle activity are in accordance with the relevant laws of human anatomy.The force and contraction are in a reasonable range and will not cause muscle strain.This shows that the wrist rehabilitation organization can have a good rehabilitation effect on the wrist joint.