| With the change of lifestyle and the aggravation of aging society,the incidence of lower back pain or motor dysfunction is increasing.Traditional treatment methods rely on the experience and unarmed operation techniques of rehabilitation doctors,which have problems such as high cost,low efficiency and poor repeatability.The urgent needs of society and market make the design and research of rehabilitation robots become a new research hotspot in the medical field.Based on the(2SPU/2UCR)&P parallel mechanism,this paper designed a hybrid waist rehabilitation robot,which can provide patients with accurate and repeated waist training actions,relieve the heavy physical labor of medical staff,and assist patients to restore the function of waist movement and the ability of normal life.The main research contents are as follows:According to the structural characteristics and movement mechanism of the human waist,the degree of freedom,range of motion and the main muscles involved in the movement of the waist were determined.Based on the theory of ergonomics and rehabilitation medicine,a hybrid waist rehabilitation mechanism was designed,which could not only realize the forward flexion and backward extension,lateral flexion and rotation of the waist,but also relieve the pain of patients through traction.The screw theory and modified G-K formula were used to solve the degree of freedom and motion characteristics of the mechanism,which were adapted to the human mechanics motion law and ensured the safety of patients and operation flexibility.In order to obtain the relationship between the output terminal and the input of the mechanism,the particle swarm optimization algorithm and the closed-loop vector method were used to analyze the forward and inverse solutions of the mechanism,and the inverse equation was derived with respect to time to obtain the velocity Jacobian matrix of the mechanism.Considering the constraints of kinematic pairs and components,the workspace of the mechanism was solved by using the numerical boundary search method with the help of MATLAB software.No voids or singularities appeared in the workspace,which indicated that the kinematic performance of the mechanism was good.The dynamic performance of rehabilitation mechanism was analyzed with the help of Adams software.Firstly,the virtual prototype model of(2SPU/2UCR)&P hybrid mechanism was established and its forward and inverse kinematics were simulated to verify the rationality of the model.Then,a single kinematics simulation was carried out for the four basic rehabilitation movements of the waist,and the variation curves of the moving platform parameters with time were smooth and continuous without mutation point,which indicated that the rehabilitation mechanism operated stably and had good driving performance.The rehabilitation effect of the waist was judged by the amount of activity and stretch length of the lumbar muscles,and the inverse dynamics simulation of the mechanism was carried out with the help of Anybody software.By simulating the motion state of the human-machine system composed of the human body and the waist rehabilitation institution,the mechanical changes parameters related to the main lumbar muscles of the patient during rehabilitation training were obtained,and through data comparison and analysis,the effectiveness of muscle training and the rationality of rehabilitation device structure were judged,providing data support for the evaluation of rehabilitation effect. |
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