Dissertation > Excellent graduate degree dissertation topics show

Design and Implementation of a Terminal-guided Rehabilitation Robot

Author: WangXiaoHong
Tutor: SunRongLei
School: Huazhong University of Science and Technology
Course: Mechanical Engineering
Keywords: Rehabilitation robot Terminal guidance Structural design Structural analysis Motion control
CLC: TP242
Type: Master's thesis
Year: 2013
Downloads: 7
Quote: 0
Read: Download Dissertation

Abstract


With the development of science and technology and the accelerating pace of life,rehabilitation robots as a new technology are leading a new revolution. At the same time,scientific and effective rehabilitation mechanism of the rehabilitation robots plays aninvaluable role in improving of people’s health and career development. This paper focusingon complex articulations of human upper limbs, designs a kind of terminal-guidedrehabilitation robot, which restores the limb function by guiding hand to move with themovement of the whole upper limbs, it reads as follows:(1) Embarks from the rehabilitation movement mechanism, based on functionalrequirements of the robot, illustrated the robot’s design process, determined the form of threedegrees of freedom of joints, and got three different schemes. By comparing the three options,determined driving mode and obtained the overall design scheme, at the same time,summarized the specific design requirements of the robot.(2) Launched a detailed structure design of the terminal-guided rehabilitation robot,including the design of the frame, arrangement of guide rail and steel wire rope, design ofretarding mechanism, ball screw mechanism, and other auxiliary mechanisms. Illustrated theworking principle of each part, and got the accurate3D model of the robot.(3) Got statics analysis of the frame by using ANSYS Workbench, for the largedeformation of the frame, which withstands a fixed load, further optimization of framestructure size was ongoing. The new size of the frame can meet the requirements of strengthand stiffness. Finally, the mode analysis of the frame with motor was carried out, confirmedthat resonance would not occur of the robot frame.(4) On the basis of kinematics analysis, obtained the relationship between the robotterminal position and the movement of each joints, presented robot control scheme andexplained the control principle about the drivers and the motion control cards. Eventually, wrote the software interface of the robot operation and introduced realization of method ofconcrete path planning for the handle of the robot.This paper completed the structure design of the terminal-guided rehabilitation robot,and completed the structure analysis and optimization of the frame. At the same time, thepaper made out the relationship of robot kinematics analysis. In terms of robot control andtrajectory planning, there presented some foundation research. The research results in thepaper have been verified in the prototype, and achieved good results.

Related Dissertations

  1. The Design and Performance Simulation of External Valve Small Displacement Pump,TE933.3
  2. Study on Mechanism of Seawater Pearl Dyeing and Optimization of Dyeing Technology,TS933.23
  3. Research on Key Technology of Recycling Horizontal Subsea Pipe Conector,TE973
  4. Submarine trenching plow machine design and stability analysis of research,TE952
  5. Researches on Fully Automatic Numerical Machine for the Tyre Valve Finish Machining,TG659
  6. Research on the Control System of Miniature Airship for Search and Rescue,V249.1
  7. Mechanial System Design and the Research on Motion Characteristic for Bio-mimetic Mouse,TP242
  8. The Research of Small Size Soccer Robot Control System Based on FPGA,TP242
  9. Research on DSP-based Control System of Hexpod Robot,TP242
  10. Extraction, Isolaion and Preliminary Structural Characrerixation of Different Serotype Capsular Polysaccharides from Streptococcus Suis,R392
  11. Motion Simulation and Control System Design of 3-PRRU Parallel Manipulator,TP242
  12. Mechanical Design and Structural Analysis of High Speed Rotary Blow Molding Machine,TQ320.52
  13. A Study on Design and Test of a Rotary Vane Electronic Vacuum Pump Used in Automobile,TB752
  14. Attached outside skeleton hand rehabilitation robot design and analysis,TP241
  15. Eight-legged Bionic Crab-liked Robot Motion Coordination Control and Simulation Analysis,TP242
  16. The Design of Upper Limb Rehabilitative Robot and the Motion Planning,TP242
  17. Research on the Heat Transfer of Flooded-type Solar Steam Generator and Structural Design,TK124
  18. Design and Implementation of Hot-pressing Module for RFID Tag-package Equipment,TP391.44
  19. Design and Realization of Controllable Measuring Force Profilometer,TP212
  20. ARM-based fire-fighting robot design and production,TP242
  21. Motion Control of Humanoid Robot,TP242

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile