Design and Analysis of Hybrid Drive Upper Limb Rehabilitation Robot
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.
modelingstructural designmotion simulationfinite element analysis
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