Mechanism Design And Experiment Research On Gait Training Robot

Robotics has becoming one of the most active fields in the modern scientific technology. It is the embodiment of nations' science and technology level. The therapy technology of hemiplegia rehabilitation aided by robot has gradually acquired the recognition of the native and abroad researchers, and it is becoming one of the hottest subjects. The gait training robot mentioned in the dissertation with double-aim of rehabilitation and fitness.According to the application objects and hemiplegia rehabilitation theory, it was confirmed the design aim and the system scheme. The system model was established and the simulation of the robot was carried out as well as experiment research. The main contents in this dissertation are as follows:The paper at first systematically analyses the development and application situation of rehabilitative robot, and puts forward the overall structure scheme for a 6 DOF robot mechanism, and prototype of robot was designed correspondingly including analyzed working space of robot, and the important parameters for rod length. Based on the movement parameters of the various joints of robot, the solutions of the robot' kinematics and inverse kinematics equation were set up, and the correctness was confirmed. Based on MATLAB/SimMechanics toolbox, the whole kinematics model of robot was established. The paper carried out the kinematics analysis and modeling of the robot. The simulation of the movement for the robot verifies the feasibility and correctness of the kinematics model established in the paper.Then, the mass and inertia of parts for robot should be measured and added to according module; Based on Simulink and M-function, the dynamics module for single side of robot was established with simultaneous constraint method, and the correctness was confirmed. After the setting of all simulation parameters, the simulation was carried out, the result of the motion and dynamic data was acquired conveniently.Finally, Based on the dSPACE real-time platform, the HIL simulation was designed. Based on MATALAB/Simulink and dSPACE RTI1103, the measuring program was developed on Controldesk operation interface of dSPACE RTI1103 hardware-in-the-loop simulation platform, and actual working space for robot was measured accordingly. After theoretical analysis, the actual working space satisfies design requirements of robot. The bearing capacity experiment for robot was finished, and results shows that the robot with high bearing capacity and good response characteristics, and can be operated steadily and safely.