Design And Research On Wire-driven Waist Rehabilitation Parallel Robot

Wire-driven waist rehabilitation parallel robot can overcome the shortcomings of traditionalwaist rehabilitation training, improve the efficiency of rehabilitation, improve the effectiveness ofrehabilitation treatment, and improve flexibility and security of the system. Its design and researchhave important implication for rehabilitation of the waist disease. In this paper, according to themotion law of body waist, the structural design of the robot was done, and theoretical modeling andsimulation research of the robot were completed. The main contents of the paper are as follows:According to the motion law of body waist, the new configuration of wire-driven waistrehabilitation robot was proposed, structural optimization-design of the robot was completed. Therobot can overcome the shortcomings of the existing configuration.The robot is suitable for patientswith different height and weight to do rehabilitation exercise. And the robot can meet the flexibilityand security requirements of the rehabilitation training robot.The kinematics model of wire-driven waist rehabilitation robot was established,and thecorrectness of the model was verified by simulation. Trajectory planning was done, and variation oflength of every driver rope was gotten by MATLAB simulation. Simulation results showed that thelength variation curve of drive cable was continuous,which could ensure stability and continuity ofrehabilitation training.Statics analysis of wire-driven waist rehabilitation robot was done,and the force-helicalequilibrium equation was established. Dynamics model of the robot was established, rope tensiondistribution problem was researched, and a general method of seeking the rope tension optimalsolution was obtained. Workspace of the robot was gotten by theoretical analysis and simulation. Thecorrectness of statics model and dynamics model and workspace analysis was validated by simulationThe control system of wire-driven waist rehabilitation robot was designed. Control principle ofthe robot was researched. The control system safety design was done. The control mode with PC+DSP motion control card was adopted.The design of hardware structure and software programmingwas completed.The control system that was designed in this paper is widely applicable in thewire-driven parallel mechanism.