The article discusses a system of rehabilitation of the lower extremities based on a passive orthosis in the form of a sequential RRRR mechanism and an active parallel 3-PRRR robot. Effective numerical methods and algorithms were developed and tested that made it possible to determine the minimum geometric parameters of the active parallel mechanism that ensure the movement of a passive orthosis within the working area in accordance with clinical data when simulating walking. The simulation results are presented by visualizing the exported workspaces in the STL format.
The article describes the main stages of developing a robotic system for the rehabilitation of the lower limbs based on the “tripteron” robot. The structure of a robotic system has been designed, consisting of a 3-PRRR parallel mechanism, which provides the angles of rotation of all joints of the patient’s leg required for rehabilitation and a passive orthosis for supporting the limb. At the first stage, the positions of the active mechanism links are determined. The output link of only one kinematic chain, making a translational movement in the vertical direction, will experience a maximum load. A design diagram of this kinematic chain was built, and the reactions of the supports were determined at the second stage. At the third stage, kinematic dependences were obtained, and an engine was selected that would provide the required torque at the required speeds.
The paper considers the accuracy characteristics of a robot machine with a parallel structure as a control object. A specifically developed model of a planar 3-RPR mechanism with an electric drive based on a DC motor made it possible to experimentally study the dependence of the following robot output link accuracy according to the speed, weight and size characteristics of the drive and mechanism.
The paper offers a method for designing robotic complexes with six degrees of freedom for processing complex parts containing a base and a module for installing tools and a module for processing parts placed on it, made in the form of parallel structure mechanisms, using CAD/CAM/CAE of the NX system under the control of the Teamcenter PLM system. Based on the terms of reference and draft documentation, a preliminary composition of the complex for components of the upper level of the assembly was developed. The stages of designing an electronic-digital model of a robotic complex are presented. A fully parameterized control structure was developed, which is the basis for building robotic complexes of various classes. The use of this approach allows the designer to reduce the complexity of designing similar complexes and simplify the process of making changes, as all changes are made to one part of the product, which has many versions. The application of the developed design methodology for various versions of robotic systems is shown. An algorithm for strength calculation of the assembly is presented. It is shown that the most effective result can be achieved only by using a combined design and calculation methodology.
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