Diseño mecánico de un sistema de robots paralelos tipo delta para rehabilitación de tobillo, para el grupo de investigación y estudio de bioingeniería de la Facultad de Mecánica ESPOCH.

Abstract

It was carried out the mechanical design and the construction of a system prototype of two parallel robots type delta inverted with four degrees of freedom each one, for the ankle rehabilitation process by mechanotherapy, the high number of persons with ankle injuries and the lack of automatic devices for their rehabilitation process, have motivated to the research group and study of bioengineering of Facultad de Mecánica from ESPOCH to look for solutions to problems focused on with the rehabilitation processes of inferior extremities. For this purpose, informatics tools were used based on mechanical design, Kinematics analysis, dynamic analysis, automatic control and materials selection. The robotic system was modelled in SolidWorks for verifying of movement features, then such model was exported to MSC Adams for doing the reverse Kinematics, by they were determined the positions and velocities of articulations, thus the accelerations, forces and torque, for the selection of servomotors. For the stage of automatic control, the correct functioning of the prototype was validated through programming in Arduino UNO. A platform with six degrees of freedom was obtained which serves for fulfilling with all the angles of the six basic movements for the rehabilitation process like dorsiflexion with 29.8º, plantarflexion with 45.8º, inversion with 22º, eversion with 17º, abduction with 25.9º, adduction with 36º. The mobile platform movements come from two delta robots with robotic arms actioned arms by six servomotors of 50 Kg.cm and vertical actuator with servomotor of 15 Kg.cm