The Structure Design Of The Upper Limb Rehabilitation Robot And Research Of Control System

With the development of robot technology and the growing demand for the rehabilitation,Robot technology is gradually applied in the field of rehabilitation engineering,rehabilitation robots become a new hot research topic.Rehabilitation robot can assist patients for their movement,provides effective rehabilitation training,so the study of rehabilitation robot has important significance.This thesis analyses the physiological structure of human upper limb,designs a 5degree of freedom of upper limb rehabilitation robot.At the same time the introduction of a passive freedom to ensure the robot joint alignment with users,increase the range of movement.According to the human body size standards,Three-dimensional model of robotic arm was drawn by Creo.And the kinematics simulation verifies the feasibility of the structure by ADAMS software.D-H method was applied to establish kinematics model for robot,the forward and inverse kinematics solution is presented,as well as Jacobi and force Jacobi.The statics model and racing torque model is established,and through MATLAB to verify the correctness of the kinematics solution,provides a basis for control.This thesis studies the control strategy of Upper limb rehabilitation robot.Through the force signal to obtain the user's intentions.Establish man-machine dynamics equation and the impedance control model was adopted to realize the flexible control.To simplify the impedance model,established the impedance control model,stiffness and damping model.Take movement training of elbow for example,through the MATLAB/Simulink system design tool to simulate the three kinds model.The simulation results show that three kinds of control model can realize the flexible control of the mechanical arm.By changing the parameters of the controller,changes system stiffness and damping characteristics,which can provide appropriate rehabilitation training for different degrees of hemiplegia patients.The establishment of the impedance control model for a better implementation of rehabilitation robot motion control is of great significance.