The Design of Upper Limb Rehabilitative Robot and the Motion Planning
|Course||Mechanical Design and Theory|
|Keywords||Upper limb rehabilitation robot Kinematic analysis Interference Analysis Rehabilitation exercise planning Virtual prototyping Control Simulation|
Most of the stroke and brain trauma patients and lead to paralysis of limbs life can not take care of themselves, not only the cause of the patient's physical and psychological enormous pressure and bring a heavy burden to the patient's family and society. Meanwhile, China, like many countries, is entering the aging society, according to statistics, China's elderly population over the age of 60 accounted for more than 10% of the country's population. Rehabilitation robotics is a field of study that came into being in the form of this demand. This paper aims to develop an upper limb rehabilitation robot and its motion planning. In this paper, based on analysis of the features of the 5-DOF exoskeleton for upper limb rehabilitation robot rehabilitation robot forward kinematics, inverse kinematics analysis and rehabilitation exercise planning studies. The chosen geometric method inverse kinematics analysis, in the case of inverse solution exist many solutions to joint movement equilibrium \This paper proposes three kinds of rehabilitation movement patterns, combined with the interference checking the rehabilitation motion planning for different rehabilitation exercise mode, rehabilitation exercise. Upper limb rehabilitation robot prototype system also motion control simulation, this after the physical prototype control made full preparations. Thesis research: upper limb rehabilitation robot program and structure design of access to relevant information, analyze the shortcomings and deficiencies of the existing rehabilitation manipulator robot, robotic arm robot into one of the upper limb rehabilitation robot, and according to the physiological characteristics of the finger and major rehabilitation functions to simplify the design of the robot: One less DOF, two inflatable gloves. The scheme of development of upper extremity rehabilitation robot, and the refinement of design 2 upper limb rehabilitation robot link coordinate system DH Law, the establishment of the upper limb rehabilitation robot link coordinate system diagram, the kinematic model of the robot. Adopt an inclusive body robot Forward Kinematics of the inverse solution of the problem, and proposed balanced degree of joint movement as evaluation criteria to select the appropriate rehabilitation exercise solution; graphical method of robot workspace positive analysis; The established upper limb rehabilitation robot with a simplified model of the human body and its interference analysis; final aerodynamic stability studies. Upper limb rehabilitation robot the rehabilitation movement planning Wen put forward three kinds of movement patterns, respectively, for patients to self-select mode, passive fun / functional movement patterns as well as to promote biofeedback rehabilitation exercise mode. Follow a rehabilitation robot features based on motion planning for each of the three kinds of movement patterns, aimed at established rehabilitation tasks completed under the premise of ensuring the safety of patients. 4, the realization of the upper limb rehabilitation robot in 1-3 research content based on The Lab VIEW software virtual prototype (SolidWorks 3D modeling) sports rehabilitation robot drive control simulation, to achieve a more effective way for physical prototypes Control.