混联驱动上肢康复机器人设计与分析

Design and Analysis of Hybrid Drive Upper Limb Rehabilitation Robot

受国内外上肢康复机器人结构研究启发,依据人体上肢体结构以及运动形式,设计一款新型的上肢康复机器人。该康复机器人是一种混联驱动式上肢外骨骼康复机器人,可以实现人体坐姿态情况下进行上肢康复。首先,对上肢康复机器人进行初步建模设计。其次,对初步建模进行运动仿真,观察初步建模设计是否能够进行相应康复动作。再根据初步建模模型对康复机器人进行细节结构设计,并且对机器人结构中采用的减速器和电机进行计算与选型。根据细节结构再对康复机器人进行运动仿真模拟康复训练的相关动作,验证康复机器人是否满足康复要求。最后,对康复机器人进行有限元分析,对康复机器人零件进行优化。

Inspired by the research on the structure of upper limb rehabilitation robot at home and abroad,a new type of upper limb rehabilitation robot was designed according to the structure and movement form of human body.The rehabilitation robot is a hybrid drive upper limb exoskeleton rehabilitation robot,which can realize upper limb rehabilitation under the condition of human sitting posture.First,the initial modeling and design of the upper limb rehabilitation robot were carried out.Secondly,the motion simulation of the preliminary modeling was carried out to observe whether the preliminary modeling design can carry out the corresponding rehabilitation actions.Then,the detailed structural design of the rehabilitation robot was carried out according to the preliminary modeling model,and the reduction gear and motor used in the robot structure were calculated and selected.According to the detailed structure,the rehabilitation robot was simulated to simulate the relevant actions of rehabilitation training,and verify whether the rehabilitation robot meets the rehabilitation requirements.Finally,the finite element analysis of the rehabilitation robot ws carried out,and the parts of the rehabilitation robot were optimized.