Design And Control Research Of The Wire-Driven Parallel Rehabilitation Device

The wire-driven parallel device has the advantages of high control precision,fast moving speed and variable structure configuration.It is of great theoretical and practical value to study its application and control in the rehabilitation field of human lumbar and cervical spine injury and to overcome the problem of slow recovery and poor effect.Based on the principle of rehabilitation of human injury site,the wire-driven waist parallel rehabilitation device and the wire-driven cervical parallel rehabilitation device are designed respectively.According to the rehabilitation needs of patients,determine the rehabilitation training model to shorten the rehabilitation process and improve the rehabilitation effect.Study the kinematics,dynamics and working space characteristics of the wiredriven waist parallel rehabilitation device.The inverse kinematics of the rehabilitation device is solved by closed vector quadrilateral method.The kinematics of the rehabilitation device is analyzed by Newton-Raphson iteration method.The dynamic model of the rehabilitation device is established by Newton-Euler method.Based on the singularity and geometric constraints of the device,the Monte Carlo algorithm is used to analyze the controllable working space and the force helical working space according to the force Jacobian matrix.Aiming at the problem that the tension of the wire is not unique under the condition of complete constraint,the convex optimization algorithm is proposed to optimize the tension.The kinematic inverse equation and the force helix balance equation of the device are established.Based on the trajectory of the waist movement of standing rehabilitation and walking rehabilitation,the length,velocity,acceleration and tension of the wire are analyzed by MATLAB.The overall control scheme of the device is proposed,and the differential PID and the feedforward compensation are proposed.The mathematical model of the driving mechanism and the simulation model of the redundant force of the driving force were established.Simulink is used to simulate the tracking curve and the excess force suppression curve to verify the rationality of the control strategy.