一种柔索驱动手指康复机器人设计与动力学分析

本文基于脑卒中患者后续康复训练需求，设计了一种柔索驱动的手指康复训练机器人，通过UG和ADAMS建立机器人三维模型，模拟对患者进行康复训练过程配置仿真环境，并进行动力学仿真，分析仿真过程中手指三个关节与机器人系统的驱动柔索、滑块受力和力矩数据，表明康复机器人设计符合手指的康复要求，能够帮助患者进行康复训练，仿真结果显示正常工作时柔索受力为55N，计算输出扭矩最大值为0.22Nm，依次结果对驱动装置进行选型，为后续实验开展奠定基础

Design and dynamics analysis of a flexible cable-driven finger rehabilitation robot

Based on the follow-up rehabilitation training needs of stroke patients, this paper designs a flexible cable-driven finger rehabilitation training robot. A three-dimensional model of the robot is established through UG and ADAMS, which simulates the rehabilitation training process for patients to configure the simulation environment, then perform dynamic simulation. Analysis finger three joints with robot system driven flexible cable, slide force and torque data in the simulation process. It shows that the design of the rehabilitation robot meets the rehabilitation requirements of the fingers and can help the patients to carry out rehabilitation training. The simulation results show that the normal force of the flexible cable is 55N during normal operation, calculated maximum output torque is 0.22Nm. According to the results, the drive device is selected to lay the foundation for the follow-up experiments.