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