Design And Research Of A Walking Step Rehabilitation Robot

As the aging of China's population continues to deepen,elderly patients with lower extremity motor dysfunction have a very high demand for rehabilitation services.However,traditional rehabilitation methods are currently inefficient,long-term,and lack of medical equipment.Therefore,the development speed of the rehabilitation robots is fast,and its research and application have broad prospects and market.This thesis is about the design and research of a walking step rehabilitation robot.The main contents include:Firstly,based on ergonomics theory,combined with sports anatomy to study the mechanism of human lower limb joint movement and human limb size measurement related data parameters,analyze the normal walking gait characteristics and the changes of joint angle in normal gait cycle,and provide structural design basis.Secondly,determine the joint freedom and compatibility size of the walking step rehabilitation robot,and carry out detailed mechanical structure design for each joint,waist mechanism and related actuators of the walking step rehabilitation robot,and compare the advantages and disadvantages of the driving method to select the best scheme.Thirdly,the D-H method is used to perform forward and inverse kinematic modeling,and the pose relationship and kinematics equation of each joint variable in space are obtained.Based on MATLAB,a single-leg simulation model is established to verify the correctness of the model and study its motion process.The robot is simplified into a threebar model,and the dynamic analysis is carried out by Lagrange method.The relationship equation between the motion and the force is obtained.The driving moment data of each joint are obtained,which provides a basis for further structural optimization and control method analysis and design.Finally,the training mode of the robot is analyzed,the dynamic mathematical model of the control target is established,and a single neuron adaptive PID intelligent controller is designed to adjust the controller parameters online to adapt to environmental changes.On this basis,a fuzzy single neuron PID controller is constructed by introducing a fuzzy controller to adjust the neuron's proportion coefficient in real time with fuzzy reasoning,so as to realize the accurate training control of the robot.The good control performance is verified by using MATLAB/Simulink module to model and simulate.