Design and Kinematics Analysis of 3-DOF Exoskeleton Mechanism
There is a growing number of stroke survivors with upper limb paralysis in recent years.However,the shortage of specialized rehabilitation physicians makes it challenging to meet the rehabilitation needs of these patients.To address this,a three-degree-of-freedom rehabilitation exoskeleton mechanism is designed to replace rehabilitation physicians in providing upper limb rehabilitation training.It improves the efficiency and stability of rehabilitation training for patients.This exoskeleton allows for movement in the shoulder,elbow,and wrist joints.The structural design incorporates gear and winch mechanisms for shoulder and elbow movements,improving flexibility and adaptability.The wrist transmission part adopts a parallelogram mechanism combining parallelogram and synchronization belt,which overlaps the telecentric point of the parallelogram mechanism with the rotation center of the wrist to meet the rotation demand of the wrist and improve the coordination of wrist motion.Based on the D-H parameter method,the kinematics of the exoskeleton mechanism is analyzed,and the forward kinematics equation is established to describe the motion of the exoskeleton mechanism,and the inverse kinematics solution of the forward kinematics equation is carried out,and the Jacobian matrix of the exoskeleton mechanism is established to describe the speed of the exoskeleton mechanism.In MATLAB,the working space of the exoskeleton mechanism is simulated based on the Monte Carlo method,and the feasibility and rationality of the mechanism design are verified by the point cloud image obtained by the simulation.
万方数据
维普
