Dynamics Simulation And Optimum Design Of Wheel Lower Limbs Rehabilitative Training Robot

Clinical medicine and medical theories show that hemiplegia patients need early necessary drug treatment and operation. Rehabilitation science and right training for physical functions rehabilitation are playing a significant role. So the main design purposes of the omni-direction lower limbs training robot are to provide a reliable walk training device, rehabilitate patients with intelligent training, safeguard the health of the elderly, and delay the elderly walking ability recession.The virtual prototype technology is introduced in this thesis. Using the software of Pro/E, Mechanism/Pro and Adams, a rehabilitation robot virtual prototype is built. Establishment of the robotics Pro/E mechanical model, generation of Adams dynamic model and selection of model parameters are discussed in details, and dynamics simulation is carried out. By analyzing simulation results, the feasibility of the mechanical structure is verified. Furthermore, original design flaws are pointed out, at the same time, a reasonable improved scheme is proposed. Based on sliding mode control theory, trajectory tracking controller of the lower limbs rehabilitative training robot is designed. Control voltage simulation of four wheel motors shows that the controllers meet the rehabilitation requirements. A new method of model simulation is proposed. A model simulation of the lower limbs rehabilitative training robot is shared by mechanical system and control system. Dynamic model is directly put into the module of MATLAB/Simulink. Finally, trajectory tracking experiment on the improved prototype of robot is conducted. Experiment result shows that the physical prototype trajectory tracking is very accurate and is suitable for rehabilitative training requirements.The innovative works are as follows. Based on virtual prototype technology, the feasibility of the mechanical structure is analyzed by modeling and simulation of Pro/E and Adams. Meanwhile, a tracking controller based on sliding mode control theory is designed. A control module is generated by transforming Adams virtual prototyping model into MATLAB, which is the basis for further research. A new lower limbs rehabilitative training robot is designed and built to improve walking ability of patients and ensure patient safety.