1、肩关节康复训练机器人设计指导教师 :葛江华负 责 人 :李晓杰组员 ： 金业鑫 李妍 刘基铭 孙立然哈尔滨理工大学所在院 ： 机械 动力工程学院所属 学科 ： 机械 设计及其自动化使用 实验室 ： 数字化 设计及仿真实验室项目成果简介 为了实现手臂康复训练，本实用新型使用一根钢丝绳通过多个滑轮拉动手臂，关节处采用带弹簧卡盘的心轴，可随意转动和固定关节，建立气动人工肌肉在 ADAMS 里的仿真模型，实现了手臂肘关节和肩关节的康复训练。手臂结构简单，并且关节角度可以进行人工调节 ,这样既能简便机械结构 ,又能更好的达到预期效果 ,对于不同手臂康复要求对应不同手臂康复训练，当对于肘关节康复训练时，卡
2、盘固定肩关节，而对于肩关节，卡盘固定肘关节，而且可以用卡盘限制心轴转动角度对整个手臂进行不同的康复训练。在 ADAMS 里对钢丝绳与滑轮缠绕的仿真需要钢丝绳在滑轮上缠绕不能脱离滑轮 ，同时要求钢丝绳与滑轮同步，这就需要在钢丝绳和滑轮之间建立齿轮副，但在它们之间必须通过连杆作为支架辅助来完成。手臂机构重量轻便于穿戴，价格便宜，而且工作可靠，整体结构简洁有效，调整方便。项目研究 中参阅 的书籍和论文目录 1 于惠力，向敬忠 主编 机械设计 科学出版社 第一版 2 赵九江 主编 材料力学 哈尔滨工业大学出版社 第一版 3 郑文经 主编 机械原理 高等教育出版社 第七版 4 陈宏钧 ,方向明 ,马素敏
3、 等编 典型零件机械加工生产实例 机械工业出版社 5 王季琨 ,沈中伟 ,刘锡珍 主编 机械制造工艺学 天津大学出版社 6 哈尔滨工业大学 ,上海工业大学 主编 机床夹具设计 上海科学技术出版社 7 李 洪 主编 机械加工工艺手册 北京出版社 8 龚定安 ,蔡建国 编著 机床夹具设计手册 陕西科学技术出版社 9 孙丽嫒 主编 机械制造工艺及专用夹具 冶金工业出版社 10 杨叔子 主编 机械加工工艺师手册 机械工业出版社 11 李益民 主编 机械制造工艺设计简明手册 哈尔滨工业大学 12 刘文剑 曹天河 赵维缓 编 2008-7-1 夹具工程师手册 黑龙江科学技术出版社 13 上海市金属切削技术
4、协会 编 金属切削手册 上海科学技术出版社 14 于骏一 主编 典型零件制造工艺 机械工业出版社 15 刘晋霞 .ADAMS2012虚拟样机从入门到精通 M.机械工业出版社 . 16 郑相周，唐国元 .机械系统虚拟样机技术 M.高等教育出版社 . 17 王新敏 , 李义强 , 许宏伟 .ANSYS结构分析单元与应用 M.人民交通出版社 . 18谢龙汉 , 刘新让 , 刘文超 .ANSYS结构及动力学分析 M.电子工业出版社 . 19 S.F. Zhang, J.F. Mao, X. Tian, K. Zeng and Z.H.Sha: Journal of Manufacturing Tech
5、nology & Machine Tool, Vol. 06(2011), No.3,pp.175-178. 20 Y. Qi: Journal of Mechanical Engineer, Vol. 05(2011), No.3,pp.40-42. 21 祁阳 . 运动控制卡在数控机床上的应用 J. 机械工程师 , 2011(05):40-42. 22 董玉红 主编 数控技术 高教出版社 项目成果形式及数量 获得专利 2 份 心得体会 6 份 研究论文 1 份研究论文Xiao jie Li,Ye xin Jin,li ran Sun,Yan li,Jiang hua Ge ,Kinemat
6、ics analysis and Simulation of arm rehabilitation robot (ISSN:1738-9968) Kinematics analysis and Simulation of arm rehabilitation robot Xiao jie Li ， Ye xin Jin ， Li ran Sun ， Yan Li ， Jiang hua Ge School of Mechanical and Dynamic Engineering, Harbin University of Science and Technology, Harbin, 150
7、080, China Keywords: Rehabilitation robot , ADAMS, Kinematics simulation Abstract: Firstly, according to the human arm physiological structure and bionics, design rehabilitation robot mechanical structure, based on proe software for modeling the robot, and imported into the ADAMS software of kinemat
8、ics simulation analysis. According that, it determines the state of motion of the robot under certain input conditions, and provides important data for the actual mechanism control. 0 introduction With the development of science and technology, especially the rapid development of robot technology, c
9、ombined robot technology with medical theory that applied to rehabilitation robots to help disabled patients do rehabilitation training has been of great importance to scientists. It is long-term, stable, objective,and help the patients do rehabilitation training, the process of removing the effect
10、of subjective the factors, which greatly reduce the training time, improve training effect. More importantly, rehabilitation robot can at home or in the community to help disabled patients with rehabilitation treatment, greatly facilitate the patients. In addition, compared with rehabilitation train
11、ing instrument with the same function abroad, rehabilitation robot has a significant price advantage. Rehabilitation robots are came out from the traditional design ideas, application to new design ideas, so as to drive other industries of the informatization. And by the technique of virtual prototy
12、pe of the robot performance evaluation, to a great extent, it can improve efficiency, reduce costs, improve the safety factor. 1 analysis of physiological mechanism model Arm physiological structure contains the shoulder joint, shoulder revolute joint, wrist joint, radius, ulna and biceps. According
13、 to the above analysis, with the help of mechanical arm to drive the human arm to exercise, prevent muscle atrophy, because it t does not move for he long time, and through the movement to stimulate the motor nerve. Exercise mode of rehabilitation mechanism (1) flexion and extension movements: the a
14、rm around the sagittal plane which on the coronal axis move, forward for flexion, backward extension. (2) abduction, adduction movement: the arm around the sagittal axis motion is in the coronal plane,when it is away from the trunk , in abduction, when it is near the trunk, in adduction. 2 the used
15、materials As the traditional drive quality and volume are relatively large, not suitable for application in wearable mechanical design, because its rigid elements for the human body are security risks, from the ergonomics perspective it is not allowed. Therefore, shoulder joint rehabilitation traini
16、ng robot use pneumatic artificial as muscle actuator. Pneumatic artificial muscle is a kind of new pneumatic actuators, compared to traditional rigid implementation of the components, which has good flexibility, high safety , light weight , low noise advantages. Because the pneumatic artificial muscle is similar with the body muscles, such as force length characteristics, expansion rate.so it is especially suitable for the application in human rehabilitation training robot.
