Research On The Structure Design And Control System Of Arm Rehabilitative Robot

Rehabilitative robot is application of robot technology to medical field. In developed countries it has got great attention and achieved some useful product. But in china rehabilitative engineering is still in the stage of start and the rehabilitative products is not satisfied to need of market. So this kind of new technology will get great develop in the drive of market need.At first the paper overviews the developing situation of rehabilitative robot and put forward the structure scheme which adopts polar coordinates, driving scheme which adopts motor, controlling scheme which make use of two-class control method. The author designs the mechanism, studies the system model and decides the driving motor.The paper makes kinematics analyses and makes servo system models and their simulation.of two joints .The paper studies and designs the circuit driving the motor and its controller, the serial communication circuit, sensor data input circuit etc and develop the bottom control unit software based on singlechip AT90S8535.At last the performance experiments for the robot are made. The result indicate that the arm rehabilitative robot has the characteristic of strong holding load, smooth and steady movement, adjustable speed. Performance index of robot is in accordance with the design specifications.