Training Walker Robot Design And Research On Drive Control

As the development of science and technology and the elevations of people's living standards, as many countries in the world,China is entering a trafic conplicated aging society, hemiplegia is troubling more and more families. Medical theories and clinical evidence, for patients with hemiplegia, the correct and scientific training for the rehabilitation of limb motor function recovery and improve is very important, in addition to the early surgical treatment and necessary medical treatment. as an automated recovery of medical equipment,rehabilitation robot came into being, the atteation to rehabilitation robotics research is also growing.The thesis describes the development of rehabilitation training robot at home and abroad as well as the status of the application, first of all, through the analysis of previous research results obtained the moving status of barycenter thought the walking movement, including the trajectory of barycenter, moving speed and acceleration, and then the training walker robot's mechanical structure has been designed, proposed a new mechanical structure to control the barycenter, combined it with the gravity compensation system in a new way. for the lower limb, imitate the linkage of human leg-bar in walking process in use of bar mechanism, the relationship between the thigh and calf in human walking process were imitated from the perspective of bionics. Finally, simulation the control of the entire institution, simulation and analysis of the intensity for the key parts, and control system hardware circuit design.This thesis researched the design of training walker robot's body, made mechanical analysis of the key components and kinematics simulation for the lower limb control agencies, designed the control system hardware circuit and software processes, all of which provided foundation.for the further experiment and study.