Three-dimensional Design And Drive Control Of Walk Aid Training Robot

Now, with the rapidly improvement to people’s lives, the stroks, theparaplegics and the walking difficult patients by the accident caused have beenincreasingly attention by society an family. on the one hand, because our countryhave entered into an aging society, the namber of society is increasing rapidly,but the nursing staff are under staffed; On the other hand because the institutionused for rehabilitation is expensive, this make ordinary working families can’tafford,and makes many patients ane not able to get good care of, and makepatients’ rehabilitation process be influenced. Comprehensive above, householdlow cost of treatment of rehabilitation training of robits is demanded increasedly.Accord to this kind of situation,a new type of aid—walking rehabilitationtraining robot is designed in this thesis. Through simulating normal people’swalking behaviors, this robot could not only carry on pelvis institutionsrehabilitation training for patients, but also have much for the leg walkingfunction recovery.Firstly,the overview of the development of research on aided-walking robotsboth at home and abroad are introduced, and the overall program of the systemare proposed, including pelvic training mechanism and leg walkingmechanism.Secondly, the overall mechanism is designed by the Pro/Esoftware,and the key component is analyzed with finite element analysis methodin Anysys software. Furthermore, both trajictor planning and the kinematicssimulation of aided-walking robot are finished both in Matlab/Simulink and inMatlab/Sim Mechanics box. Finally, the design requirements of control systemare proposed. The control system made up of hardware and sofeware, and choosePMAC movement card. At the same time, the software of motion control systemis done, and the whole system movement control is completed.