Kinematic Analysis of the Waist Rehabilitation Robot Based on Pseudo-rigid-body Model

doi:10.3901/JME.2019.23.067

Abstract

Abstract: Considering the effects of rehabilitation patients on rehabilitation robots during the rehabilitation exercise, the rehabilitation parts of patients are considered when designing and analyzing the rehabilitation robots. The waist is considered as a flexible rod and analyzed as a part of the waist training device driven by pneumatic artificial muscles. The structure of the waist training device is introduced and the function of the waist in the waist training device is analyzed. The kinematics model of the waist training device is given. The force analysis of the waist training device is carried out. The force analysis of the pneumatic artificial muscle component is conducted with the function of the waist training device. And the force analysis of the waist is carried out using the pseudo rigid body model. The stress of the combined point between the waist belt and the waist is calculated. Based on this, the waist training device is integrated into the whole. Through force analysis, the relationship between the rehabilitation belt and the pneumatic artificial muscle component in the waist training device is obtained. The correctness of kinematics analysis and force analysis results are verified by simulation. A physical prototype of the hybrid-driven parallel waist rehabilitation robot is further designed and constructed based on the kinematic analysis and simulation results.

Key words: waist rehabilitation, pseudo-rigid-body, kinematic analysis, pneumatic artificial muscle

CLC Number:

TP242

LI Yuan, ZI Bin, SUN Zhi. Kinematic Analysis of the Waist Rehabilitation Robot Based on Pseudo-rigid-body Model[J]. Journal of Mechanical Engineering, 2019, 55(23): 67-74.

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