| 摘要 |
FIELD: physics.SUBSTANCE: adaptive mobile spatial rehabilitation robotic arm comprises a spatial structure in the form of an octahedral module in an original position with ribs in the form of rods, the ends of which are pivotally connected at the vertices with the octahedral module. The rods are provided with linear drives with relative displacement sensors, wherein the rods are configured to change their length based on control commands for the linear drives from a control system. The rear face of the octahedral module located at the opposite side from the direction of movement and the parallel front face located on the side of the direction of movement are configured to connect to similar modules. All rods of the octahedral module are provided with pivot joints at the ends in the form of ball joints. The middle portions of the rods of the rear and front faces are provided with radial supports with force and temperature sensors and insulated electrical contacts to form adaptive grippers of the robotic arm. Each of the rods is provided with force, relative displacement and relative velocity axial sensors, and the vertices of the octahedron are provided with combined spatial position and acceleration sensors, made in the form of miniature triaxial gyroscope-accelerometer units. The linear drives, force, temperature, relative displacement and relative velocity sensors and the combined spatial position and acceleration sensors are electrically connected through analogue-to-digital converters to the control system, which is configured for real-time monitoring and control. The force sensors of the middle portions of the linear drives of the rear and front faces are in the form of tensometric elastic elements, having the shape of a plate or a circular rod, the ends of which are rigidly connected to the ends of the linear drive and installed on the linear drive at the position of its maximum length and with initial bending towards the centre of the corresponding face, and each of the vertices is configured for installation of massage tools directed towards the centre of the rear and front faces.EFFECT: simple design, reduced weight and size and enabling self-movement of the device on the entire length of the limb, improved efficiency of the masseur and enabling on-line monitoring over the Internet of an independent massage in a home environment, broader manipulation capabilities.8 cl, 9 dwg, 1 tbl |
