Design And Mechanics Analysis Of A Hybrid-driven Waist Rehabilitation Robot

Nowadays more and more people suffer from the waist disorders resulted from sedentariness,and the age shows a trend of getting younger.But the traditional therapeutic method is too reliant on the experience and operation technique of rehabilitation physicians,which is ineffective and time-consuming.Thus it has important theoretic and practical meaning to design a kind of intelligent waist rehabilitation robot.This thesis aims to design a waist rehabilitation robot with the advantages of simple structure,high safety and strong adaptability.Meanwhile,the kinematics,statics and dynamics of the robot are analyzed.Based on these,the optimization,control system design and trajectory plan are studied.Firstly,the functional requirements are listed after analyzing the human waist structure and its movements.Combined the driven characters of cable and pneumatic muscle actuator(PMA),the basic structure of the hybrid-driven waist rehabilitation robot(HWRR)is designed.The HWRR is divided into the waist twist device and the lower limb traction device to mechanics analyze and optimize.The waist and the lower limb are treated as spring and link separately when analyzing the kinematics and statics.Then dynamic modeling of the waist twist device and the lower limb traction device are established by Lagrangian formulation.And relations of the structure parameters and force of the PMA system are deduced based on McKibben model.The structure parameters of HWRR are optimized based on the kinematics and statics for optimum performance.The effect of the contraction parameter of PMA is considered in the optimization of the waist twist device.And the lower limb traction device is optimized using particle swarm optimization to minimize the global conditioning number over the feasible workspace.As a result of the optimization,an optimal rehabilitation robot design is obtained and the condition number of Jacobian matrix over the feasible workspace are also calculated and discussed.Finally,in order to meet the different rehabilitation requirements of recover patient,the control system of HWRR is designed,including the choice and arrangement of sensors,rehabilitation training process and the corresponding control strategy,et al.Then the trajectory of passive training process is designed and simulated.And the validity of kinematics and dynamics model is verified by simulation.