Research on a 5R + Special-Shaped 3RPS Hybrid Upper Limb Rehabilitation Mechanism
In order to solve the problems of complex exoskeleton structure and poor rehabilitation effect of wrist rehabilitation,a 5R+ heteromorphic 3-RPS hybrid upper limb rehabilitation exoskeleton mechanism was proposed,which could realize the upper limb rehabilitation training with7degrees of freedom.Firstly,The whole kinematics model of Rehabilitation Exoskeleton was estab-lished.The serial part and the parallel part were combined to calculate the pose transformation of the serial part,the pose transfor-mation matrix of the wrist parallel mechanism and the inverse kinematics of the whole mechanism.Secondly,ADAMSsoftware was used to analyze the kinematics of the rehabilitation mechanism,Through the analysis of the displacement,velocity and acceleration curves of the end mass center,it was proved that the mechanism could be carried out correctly according to the rehabilitation trajecto-ry,and the transition was safe and stable.Finally,Through10repeated physical model tests,the angle range and running stability of the wrist were verified.The actual range of motion angle of wrist device could reach(73～82)%of the ideal state,and the opera-tion meets the expected trajectory.The correctness and rationality of theoretical derivation and structural design are verified.
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