Research On Control System Design And Experimental Study Of Wire-driven Lower Limb Rehabilitation Robot

In recent years,with the increase of the number of patients with lower limb motor dysfunction and the improvement of people's living standard,more and more robots are used in the field of human lower limb rehabilitation.The rope traction rehabilitation robot has the advantages of simple structure,large working range and fast movement speed.It has more and more practical value in the field of rehabilitation.Compared with the traditional rehabilitation treatment,the robot control can effectively improve the effect of rehabilitation training,reduce the manpower cost,at the same time for the rehabilitation of patients and different subjective wishes to change the training strategy of the robot,which can adapt to different rehabilitation of patients,improve the rehabilitation effect.Therefore,it is of great practical significance for the research of the rope traction lower limb rehabilitation robot.According to the research background and the development situation of rehabilitation robot,this paper designs a parallel rope traction rehabilitation robot,including the overall structure of the robot and the overall control scheme.The main contents of the theoretical analysis and experimental research are as follows:First of all,according to the research status of the traction of the lower limbs of the rope at home and abroad,a rehabilitation robot for the normal gait walking training is designed.The structure of the robot is composed of two parts: the suspension platform and the rope traction system,position machine adopts the industrial control computer,and the C# software is used to write the control interface of the host computer,and the lower computer is a servo driver based on the ARM control chip,The control strategy of the lower machine adopts three closed loop strategy of current,speed and position.Secondly,the kinematics and dynamics of the rehabilitation robot are analyzed.Based on the simplified model of the human body,the kinematics analysis of the human body is carried out,and the relationship between the position and velocity of each rope in a gait cycle is derived.The dynamic model of the traction robot is established by Lagrange method,and the traction motor is selected according to the force on the rope.Thirdly,the hardware and software of the servo motor driver are designed.the hardware of the driver is controlled by ARM,and the motor is driven by H bridge circuit.According to the functional requirements,the hardware structure diagram is given.and design the motor control circuit and drive circuit.At the same time,write the system software program,according to the design index to improve the system software program,Based on the hardware and software of the servo driver,the control software interface is designed.Finally,the communication function of the servo motor drive design,driving function and AD conversion were debugging,using DMC5000 leadshine motion control card and IPC single motor closed-loop experiments and motor linkage experiments,the experiment proves that the designed control system of Rope traction lower limb rehabilitation robot prototype can meet the design requirements.