Design And Research Of Horizontal Wire-driven Parallel Lower Limb Rehabilitation Robot

Cerebrovascular disease that is easy to occur in the middle-aged and elderly have become a major problem in today’s aging society,which often cause motor dysfunction such as hemiplegia.Rehabilitation medicine research shows that hemiplegic patients receiving timely and effective rehabilitation training can recover some or even most of their motor functions.The vast majority of patients are quite weak in the early stage of rehabilitation,and have no ability to stand or receive gait training,but early rehabilitation exercise training plays a vital role in the prognosis of patients.Therefore,it is of great significance to study a horizontal lower limb rehabilitation training robot suitable for early rehabilitation training.The existing rehabilitation robots are mainly rigid robots,and its guarantee of comfort and flexibility is realized by control strategy.For the wire-driven parallel robot,due to its driving mode,it has potential advantages in comfort and flexibility.In this paper,the kinematics and dynamics of the wire-driven parallel mechanism are applied to the lower limb rehabilitation of human body,and a lower limb rehabilitation robot that can be used by patients in lying posture is designed.The specific research works are as follows:1.Combined with the anatomical characteristics of human lower limbs,the kinematics of human lower limbs in rehabilitation training,and the specific characteristics of the wire-driven parallel robot,the overall structure of the robot is determined,and the modular design of each component of the rehabilitation robot is carried out.2.The inverse kinematics of the wire-driven lower limb rehabilitation robot is analyzed by mathematical analysis;The forward kinematics solution which is inconvenient to be analyzed by mathematical method is analyzed by optimal design iterative method,so as to prepare for the later position closed-loop control analysis.In order to verify the accuracy of the analysis,the modeling and testing are carried out by simulation software,and good results are obtained.3.The static and dynamic models of wire-driven lower limb rehabilitation robot are established by using Newton Euler method.Based on this,the method to solve the wire tension is analyzed and deduced,and the range of wire tension in the process of rehabilitation training is obtained through simulation.Further,the theoretical analysis of the feasible wrench workspace of the rehabilitation robot is carried out,and the solution is solved through simulation,and the feasibility of lower limb rehabilitation through the robot is verified.4.The control system of horizontal wire-driven parallel lower limb rehabilitation robot is designed.Aiming at the adaptive population of rehabilitation robot in this dissertation-early rehabilitation patients,the control strategy of the control system is formulated.After selecting the control mode of the control system,the hardware platform and software program of the rehabilitation robot are built.