Motion Analysis And Structure Research Of Fluid-driven Flexible Rehabilitation Manipulator

In the treatment of hand function recovery in stroke patients,rehabilitation equipment assisted therapy is a commonly used method with precise and efficient characteristics.However,traditional rigid rehabilitation devices have poor flexibility and are prone to secondary injury to patients.Most pneumatic flexible rehabilitation devices have large weight and high noise,which is not conducive to promotion and use.Twisted tube actuator(TTA)flexible rehabilitation robotic arms are beneficial for reducing noise and body weight,improving flexibility and safety.This article takes the flexible rehabilitation robotic arm as the research object,and the research content includes the structural design of pneumatic flexible actuators;Simulation analysis and parameter optimization of pneumatic flexible actuators;TTA model establishment and parameter establishment;Structural design and kinematics modeling of rehabilitation manipulator;Prototype production and experimental verification of rehabilitation robotic arms.The main work and research content are as follows.(1)Structure design of pneumatic flexible actuator.According to kinesiology,the structure and movement characteristics of human hand bones are analyzed,combined with clinical rehabilitation medicine,the rehabilitation needs of stroke patients are combed,the law of muscle activity of the patient’s hand is obtained,the design parameters of the flexible actuator are determined using the virtual finger theory,the constitutive model of the flexible actuator material is established,and the material parameters of the flexible actuator are established,which provides a basis for the design of the flexible actuator.(2)Simulation analysis and parameter optimization of pneumatic flexible actuator.According to the structural parameters of the flexible actuator,the structural model of the flexible actuator is established.The stress,strain and bending effect of the model under load are analyzed by using ABAQUS simulation software.The performance of several groups of different parameter models is analyzed by using the comparison method.The structural parameters of the flexible actuator are optimized,and the effectiveness of the flexible actuator is verified.(3)Model establishment and parameter establishment of TTA.Aiming at the problems of noise and bulkiness of the pneumatic flexible rehabilitation manipulator,based on the TTA,the drive model of the flexible rehabilitation manipulator is established,and the parameters of each part of the TTA module are established using the method of combining experiment and theory,effectively avoiding the problems caused by the pneumatic drive mode.(4)The structure design and kinematics modeling of rehabilitation manipulator.According to the characteristics of finger joint movement,the structure model of the rehabilitation manipulator is established.The forward kinematics model of the rehabilitation manipulator is established by using the screw method.The inverse kinematics algorithm of the rehabilitation manipulator is proposed by using the combination of the screw method and the algebraic method.The correctness of the inverse kinematics algorithm is verified by MATLAB using the structural parameters of the rehabilitation manipulator,which provides a theoretical basis for the motion control of the rehabilitation manipulator.(5)The physical production and test verification of the rehabilitation manipulator.Based on the established parameters of various parts of the rehabilitation manipulator,the drive control system of the rehabilitation manipulator is built.The actual performance of the flexible actuator is verified by the method of experimental demonstration.A prototype of the rehabilitation manipulator is made.The effect of the rehabilitation manipulator in practical use is verified by the method of flexion and extension two-way test.The highlight and innovation of the research work is that the inverse kinematics of the rehabilitation manipulator is solved by the method of combining the screw method with the algebraic method;The rehabilitation robotic arm adopts TTA method to achieve bidirectional rehabilitation movement.