Research On COP Control System Based On Wire-driven

Rehabilitative robot is a new technology that has been developing rapidly in recent years, and also this technology is one kind of application in the medical field. Lower limbs rehabilitative robot is one kind of the rehabilitative robot. Lower limbs rehabilitative robot can simulate the motion of normal human's walking gesture and help the patients with rehabilitative training. The main research in this dissertation includes studies of the key technology about COP (Center of Pelvis) motion mechanism of lower limbs rehabilitative robot based on wire-driven and experiment analysises.The main contents of this research are as follows:A symmetrical parallel robot which is driven by five wires is put forward according to the DOF (Degree of Freedom) of COP. And the scheme of this structure is designed. At the same time, the driving type of COP's motion mechanism is determined.Based on dSPACE, the overall control system of COP's motion mechanism is put forward. The direct current serve driver card is designed, which includes driving module for DC speed adjusting, over-current protection circuit, communication circuit, emulator circuit and power circuit for digital control system. The signal amplifying circuit is also designed. At last, the sensor is calibrated.The server control model of one DOF wire-driven system is established. With the system the tension / position serve controller of one DOF wire-driven system is designed. At the same time, the simulation and analysises of the tension / position serve controller are also realized.Based on dSPACE, the semi-physicals simulation platform for one DOF wire-driven system is designed. And according to this platform, the system is identified. The experiments of tension / position serve controller for one DOF wire-driven system are also carried out. The results of this experiment show that the performance of the tension / position serve controller for one DOF wire-driven system has met the design requirements and the control system is reliable. Therefore this control system can do well in wire-driven control.