三自由度前臂康复外骨骼机构设计与轨迹规划OA

To meet the needs of post-stroke patients for forearm rehabilitation in current rehabilitation training,as well as to ensure the comfort and safety of patients during the rehabilitation process,a 3-DoF forearm rehabilitation exoskeleton is designed.In order to meet the torque requirements for rehabilitation movement and achieve better control effects,the joint driving mechanism adopts two-stage reduction with planetary gear reduction and winch reduction.To address the coordination issues in wrist training,the wrist joint is designed using the principle of a parallelogram mechanism.The overall structure is modeled in 3D using SolidWorks.The simplified three-link model is established using the D-H method for kinematic modeling,and its correctness is verified using MATLAB.Lastly,to improve the safety and comfort of post-stroke patients during rehabilitation training,trajectory planning is conducted based on fifth-order polynomial interpolation,and MATLAB is used for simulation analysis to obtain uniformly smooth curves of motion speed and acceleration for each joint.This verifies the rationality of the exoskeleton structure and the comfort of motion,laying the foundation for subsequent program design based on various rehabilitation modes.