Design And Kinematics Simulation Of 6-PSS Parallel Robot For Vestibular Rehabilitation

The traditional rehabilitation training method is carried out manually or with the help of simple instruments to drive the affected limb.The nursing intensity of medical staff is strong,and the rehabilitation of patients is susceptible to the subjective factors of therapists,which limits the improvement of the rehabilitation effect.Rehabilitation robots were invented to deal with the shortcomings of traditional rehabilitation training methods.Medical studies have found that patients with vestibular dysfunction can improve through repeated rehabilitation exercises because of the plasticity of the brain.According to the actual needs of the rehabilitation crowd,a 6-PSS vestibular rehabilitation robot was designed to analyze the kinematics and dynamics characteristics,calculate the working space,and carry out the simulation.The specific research is as follows:(1)Determine the working parameters of 6-PSS parallel vestibular rehabilitation robot,design the parallel vestibular rehabilitation robot,and make the robot meet the movement requirements.(2)Establish the 6-PSS robot mathematical model of vestibular rehabilitation;Using the mathematical vector relation,deduces the position positive and negative solution expression,uses the iterative algorithm to use the MATLAB to check the programming example,obtains the Jacobian matrix,proves the derivation positive and negative solution result is correct.(3)The solving principle and algorithm of 6-PSS parallel robot for vestibular rehabilitation were obtained,and the range value of the workspace was obtained,which provided theoretical support for the realization of trajectory planning in the future.(4)The dynamics model of 6-PSS vestibular rehabilitation robot was established,and the dynamics analysis of 6-PSS vestibular rehabilitation robot was carried out by Lagrange method to provide reference for optimal design.(5)The software ADAMS was used to simulate the kinematics of the 6-PSS robot in vestibular rehabilitation.The motion trajectory function was set,and it was proved that there was no interference between the connecting rod and the ball hinge.The relevant parameters of the rehabilitation platform were obtained,which could be used to stimulate the recovery of vestibular sense in patients with vestibular disorders.