Design And Analysis Of Shoulder Rehabilitation Mechanism

For the rehabilitation of patients after surgical treatment,and because of stroke,hemiplegia,rehabilitation of patients with cerebral infarction and lack of initiative consciousness,this paper designed a 2-SPS/SPS/S zero coupling by turning parallel mechanism to rehabilitation of patients with shoulder joint,the agency can assist in this former after flexion/extension,adduction/abduction and internal rotation/extorsion and complex movement,the structure is compact,easy to control,the smooth movement.Compared to the shoulder joint rehabilitation institutions currently on the market,the agency’s advantage lies in the center of rotation is equal to the center of rotation,this study does not exist when the man-machine integration center of rotation is not coincidence,second,the coupling coefficient is zero,based on the analysis of the kinematics and dynamics performance when eliminating the complicated mathematical derivation and elimination calculation,greatly reducing the amount of calculation,so that the structure is easy to control.This paper mainly analyzes the 2-SPS/SPS/S shoulder joint parallel rehabilitation mechanism from the following aspects.Design of shoulder rehabilitation institution.To study the status of the development of rehabilitation robots at home and abroad and the development trend of the future,complement each other and be familiar with human physiological characteristics of shoulder joint,bone structure,movement forms,pathological characteristics,mechanism of rehabilitation design a shoulder joint rehabilitation institutions,integrated all aspects above,this paper designed a 2-SPS/SPS/S zero three rotating shoulder joint coupling parallel rehabilitation facility.Analysis of azimuth feature set of 2-SPS/SPS/S parallel mechanism.In this paper,we use the method based on the azimuth feature set to solve the problem that the mechanism has three rotational degrees of freedom,zero coupling degree,no negative motion pairs and three moving pairs of driving pairs selected.The correctness of the solution of freedom is verified by the formula.Kinematics analysis of 2-SPS/SPS/S parallel mechanism.The kinematics analysis includes position analysis and velocity acceleration analysis.Based on the closed vector method,the mathematical model of the inverse position solution of the mechanism is established,and the curve diagram of the inverse solution is obtained by MATLAB programming.Based on particle swarm optimization(PSO),the forward solution of the mechanism was analyzed,and the forward solution example was solved.The accuracy of the position analysis of the mechanism was ensured by mutual verification of the forward solution and the inverse solution.On the basis of position reverse solution is obtained by MATLAB programming the jacobian matrix of the institutions and agencies for the proneness/after 30°,30° of adduction/abduction and internal rotation/outward turning 20 ° when each branch chain of displacement,velocity and acceleration curve along with the change of time,the curve is smooth with no mutations and cyclical,2-SPS/SPS/S parallel mechanism can run smoothly.Singularity and workspace analysis of 2-SPS/SPS/S parallel mechanism.Based on the Jacobian matrix,the singularities of the mechanism are analyzed.The results show that there are no input singularities and output singularities of the mechanism,but there are comprehensive singularities of the mechanism.In other words,when,the included angles between the middle bar and the positive direction of the X-axis of the static platform coordinate system are 112° and 60°,the singularities occur.On the basis of the inverse position solution,the reachable workspace diagram of the mechanism was obtained by MATLAB programming.The workspace diagram was consistent with the motion form of the mechanism and there was no cavity phenomenon.Kinematics simulation and dynamics study of 2-SPS/SPS/S parallel mechanism.Using the ADAMS software to 2-SPS/SPS/S parallel mechanism kinematics simulation,got the agency after bending forward 30°,30° of adduction/abduction and internal rotation/outward turning 20°when each branch chain of displacement,velocity and acceleration curve along with the change of time,the curve is smooth with no mutations and cyclical,and as in the previous chapter theory analysis of the displacement,velocity and acceleration curve moves along with the change of time,verify the accuracy of kinematics;The next sequence of single open chain method based on virtual work principle of this mechanism has carried on the dynamic analysis,get the reaction force and driving moment,using the ADAMS software to 2-SPS/SPS/S parallel mechanism has carried on the dynamic simulation,in the absence of external load cases get reaction force and driving moment curve,the curve is smooth with no mutations,shows that it is easy to control,so 2-SPS/SPS/S zero three rotating shoulder joint coupling parallel rehabilitation facility has the very good application prospect.