| Traditional rehabilitation training such as massage,acupuncture and moxibustion and manual traction is inefficient,costly,and subjective in evaluation,which can no longer meet the needs of current rehabilitation training.According to clinical medical research,scientific rehabilitation training for patients as soon as possible can help them achieve early recovery.At present,using exoskeleton rehabilitation robots developed domestically and internationally for rehabilitation training has become an important way to solve motor dysfunction in stroke patients.In response to the current problems of single function,low anthropomorphism,and inconvenient contralateral exchange of upper limb exoskeleton rehabilitation robots,a multifunctional upper limb eight degree of freedom exoskeleton rehabilitation robot with universality,multi joint training,and left and right arm exchange is designed.The article mainly focuses on the overall design of exoskeleton rehabilitation robots,3D modeling and prototype construction,theoretical analysis and simulation research.(1)Analyze the movement mechanism of each joint in the upper limb based on the physiological structure of the human body.Based on ergonomics,determine the range of joint motion and arm length adjustment.According to the design requirements of the exoskeleton rehabilitation robot,determine the number and distribution form of degrees of freedom,transmission scheme,and pre-selected servo motor and harmonic reducer models in the power components.(2)Using modular modeling approach to design 3D models in Solid Works software,produce machined parts,purchase purchased parts,and assemble physical prototypes.Simultaneously assemble the electrical system and complete the construction of the upper limb eight degree of freedom exoskeleton rehabilitation robot experimental platform.(3)Theoretical analysis includes kinematics analysis and dynamics analysis.In kinematics,the D-H parameter method is first used to establish the forward kinematics equation of the exoskeleton rehabilitation robot,and then the algebraic solution is used to solve the algebraic analytic expression of each joint in the inverse kinematics.Then the differential transformation method is used to solve the Jacobian matrix,and finally the Monte Carlo method is used to analyze the workspace.In terms of dynamics,simplify the joint model of the exoskeleton rehabilitation robot,use the Lagrange method to analyze the total potential energy and total kinetic energy,and solve the joint torque equation.(4)The kinematics and dynamics of exoskeleton rehabilitation robots under different rehabilitation training modes are simulated by ADAMS software.The kinematics simulation part measures the displacement time curve and speed time curve of the marked points relative to the reference coordinate system to verify the correctness of the kinematics model and the rationality of the structural design.The dynamic simulation section measures the driving torque required by each joint during rehabilitation training,and compares it with the selection calculation data to verify the correctness of the power component selection. |
