Design And Research Of Hybrid Rehabilitation Exoskeleton Manipulator

At present,the increasingly serious aging population is a common problem facing all industrialized countries.With the increasing aging of the population,the number of patients with upper limb motor dysfunction caused by stroke and hemiplegia is also increasing sharply.According to clinical experiments,if patients with upper limb dysfunction can insist on physical rehabilitation training for a long time,good rehabilitation effects can be achieved.By comparing the relevant literatures at home and abroad,the advantages and disadvantages of the upper limb rehabilitation robot are analyzed.In view of the accuracy problem,stability and the balance of exoskeleton volume of the current upper limb exoskeleton,an 8-degree of freedom hybrid rehabilitation exoskeleton robotic arm is proposed,aiming at improving the safe and reliable rehabilitation training for patients with upper limb dysfunction.The main research contents are as follows:By studying the motion mechanism of human upper limb,aiming at the problems of accuracy,stability,joint axis deviation and rehabilitation with fewer degrees of freedom existing in the existing upper limb exoskeleton in rehabilitation exercise,an 8-DOF hybrid rehabilitation exoskeleton manipulator was proposed.Complete the overall design of the hybrid rehabilitation exoskeleton robot arm,and design a new 2 degrees of freedom elbow rehabilitation component for better elbow training of patients with upper limb movement disorders;A coaxial spherical 3RRR/S mechanism is designed for hand rehabilitation,which can make the rehabilitation training of hand more envelop.The key parts of the manipulator are analyzed statically and modal by ANSYS software.The kinematics and dynamics of the designed hybrid exoskeleton manipulator were analyzed.The kinematic attitude simulation of the hybrid exoskeleton manipulator was carried out.The D-H method was used to establish the kinematics model of the whole manipulator,and the vector loop method was used to establish the kinematics model of the rigid part of the manipulator.The Jacobian matrix of the manipulator was solved by vector loop method and vector product method.According to its singular characteristic matrix,Monte Carlo method was used to draw the working space cloud map of the manipulator to verify that the space requirements for rehabilitation training were met.A dynamic model of hybrid exoskeleton manipulator was established by Lagrange method.The rehabilitation trajectory planning method of hybrid exoskeleton manipulator was studied.By analyzing the advantages and disadvantages of different trajectories,the rehabilitation trajectories of the hybrid exoskeleton manipulator were designed.Adams software was used to establish the simulation model of the hybrid exoskeleton robot arm.The kinematics and dynamics of the hybrid exoskeleton robot arm were simulated and analyzed respectively,to verify the rationality of the mechanism design and trajectory planning,and to provide data support for the subsequent prototype construction.According to the overall design scheme of the control system of the hybrid upper limb exoskeleton manipulator,the hardware design and selection of the control system were carried out.STM32F4 was selected as the main controller,and Altium Designer was used to design the main controller,power circuit,attitude signal acquisition circuit,communication circuit and other hardware circuits.A fuzzy PID controller suitable for hybrid upper limb exoskeleton manipulator was designed and its performance was verified by Simulink software.According to the characteristics and working conditions of the system,the software system design and human-computer interaction interface design;The prototype of the hybrid exoskeleton manipulator was built and tested to verify the rationality and feasibility of the relevant control.