OPTIMAL SYNTHESIS OF THE STRUCTURE AND PARAMETERS OF A ROBOTIC SYSTEM FOR REGENERATIVE MECHANOTHERAPY BASED ON PARALLEL MECHANISMS

Abstract

An analysis of the state of research has shown that currently restorative mechanotherapy is widely used in the rehabilitation of patients with functional disorders of the musculoskeletal system caused by the consequences of vascular diseases, disorders of neuroregulation of motor activity, injuries and pathology of the musculoskeletal system. In restorative mechanotherapy, I most often use robots of a sequential structure that have the necessary working area, but at the same time have a low load capacity, as a result of which the system has to be scaled. Parallel robots are an excellent solution for the implementation of mechanotherapy based on robotic tools. The article presents the structure and model in two versions: a single-module robotic complex (RTC) for the rehabilitation of one limb and a two-module robotic complex for the rehabilitation of both limbs. Each module includes an active 3 - PRRR manipulator to move the patient's foot and a passive orthosis based on an RRR mechanism to support the lower limb. Based on the clinical aspects in the field of rehabilitation, the requirements for the developed RTC for the rehabilitation of the lower limbs are formulated, taking into account the anthropometric data of patients. A mathematical model has been developed describing the dependence of the positions of the links of the active and passive mechanisms of the two modules on the angles in the joints of the passive orthosis, taking into account the options for attaching kinematic chains of active manipulators to mobile platforms and their configurations. A method of parametric synthesis of a hybrid robotic system of modular structure has been developed, taking into account the formed levels of parametric constraints depending on the ergonomics and manufacturability of the design based on a criterion in the form of a convolution comprising two components, one of which is based on minimizing unattainable trajectory points taking into account the features of anthropometric data, and the other on the compactness of the design. A digital RTC twin and an outboard safety mechanism as part of the RTC have been developed using CAD/CAE tools of the NX system. The design of the passive RRR mechanism was carried out by reverse engineering using 3D scanning. The results of mathematical modeling, as well as the results of analysis, are presented