床旁上肢康复机器人设计研究

Research on Bedside Upper Limb Rehabilitation Robot

摘要: 目的：针对由脑卒中导致的卧床的上肢偏瘫患者，设计一种床旁式上肢康复训练机器人。方法：通过研究人体上肢结构与运动，进行床旁上肢康复机器人的构型和尺寸优化设计。通过模块化建模思想综合功能构型尺寸等因素进行机械设计，使用ANSYS仿真对关键零部件进行强度校核。构建床旁上肢机器人运动学模型，并进行正逆运动学方程的计算与分析，进行机器人训练轨迹研究。结果：该床旁式上肢康复训练机器人在验证过程中无机械干涉，能实现上肢康复训练的要求，训练效果均达到预期。结论：该床旁式上肢康复训练机器人设计合理，方法可行。

Abstract: Objective: To design a bedside upper limb rehabilitation training robot for patients with upper limb hemiplegia caused by stroke. Methods: By studying the structure and movement of human upper limbs, the configuration and size of bedside upper limb rehabilitation robot were optimized. Me-chanical design is carried out by integrating functional configuration dimensions and other factors through modular modeling idea, and the strength of key components is checked by ANSYS simula-tion. The kinematics model of bedside upper limb robot is constructed, and the forward and inverse kinematics equations are calculated and analyzed to study the robot training trajectory. Results: The bedside upper limb rehabilitation training robot had no mechanical interference in the verifi-cation process and could meet the requirements of upper limb rehabilitation training. Conclusion: The bedside upper limb rehabilitation training robot is reasonable in design and feasible in meth-od. The training effect has reached the expectation.