Control And Simulation Of Balance Training System Based On Parallel Robot

Maintenance of balance is necessary during activity in daily life,which is the basic ability to ensure that people can stand,walk and complete complex action harmoniously.The balance function of human body includes static and dynamic balance ability.In this paper,a balance training system based on parallel robot is designed to train the dynamic balance ability.This paper systematically overview the development situation of balance training system and parallel robot.According the need of balance training,3-RPS parallel robot is introduced as the mechanical equipment,which is a topic parallel robot with three degrees of freedom.The concrete research contents as follows:This paper analyzes the structural characteristics of 3-RPS,and establishes the motion constraint equations of the movable platform.The mathematical model of the forward and inverse kinematics solution are derived,using the motion constraint equations.Based on the inverse kinematics solution,the paper analyzes the workspace of the 3-RPS,and discusses the mechanism's parameter influence to the workspace.To avoid singular position,the singularity pose of the 3-RPS is studied,using the kinematics principle of singularity.Considering the gravity of linkages,the static analysis is done and the input-output model of forces/torques is built.To verify the correctness of the theoretical analysis,the mechanism of robot is modeled and simulated by using the SimMechanics and Simulink block sets ofMATLAB.The control system adopts upper and lower computer structure,which consists of the PC host computer,ATmegal28L MCU and step motor drivers.The PC host computer finishes the user interaction and inverse kinematics solution by software Lab View,and the MCU controls stepper motors and acquires signal of sensors.At the end of this paper,the simulation system of balance system and user interaction interface is introduced.The experiments are carried out,including serial communication between PC and MCU,and general experiments of the system.The experiment results show that the balance training system based on 3-RPS parallel robot is feasible.