Designofwire-driven Pelvis Motion Control Robot

The lower limb rehabilitation robot has been a research hotspot in the field of medical technology.In this paper,the wire-driven pelvis motion control robot has been designed,which can solve the deficiency of the research on the coordination movement between trunk and lower limbs in the lower limb rehabilitation robot.Firstly,the movement rule of the pelvis was analyzed,and the wire arrangement scheme and structure of the robot were designed,the weak links in the structure were analyzed.Then,analyzed the work space of the designed robot,kinematics model was establishedand simulated;Then,the dynamic model of robot and the controller based on the dynamics are established.Finally,the hardware is selected based on the simulation results,and the motion control software of the robot was written based on the motion control card.The main content is as follows:First,the movement rule of pelvis movement during normal gait was analyzed.It included the freedom output of the pelvis movement and the mathematical expression of space position,which provides requirements forthe design of the robot.Second,the robot's wire arrangement scheme and structure were designed.According to the movement rule of the pelvis,the main and secondary movement forms were analyzed,and based on the simplified output demand and the characteristics of wire-driven parallel structure,the wire arrangement scheme was designed.The structure of the robot was designed,and the key components of the design were analyzed by the finite element method.Thirdly,the work space,kinematics analysis and simulation study of the robot were carried out.Based on the characteristics of the wire-driven parallel robot,the controllable working space of the robot was analyzed,and the workspace distribution under the maximum attitude was given.The kinematics model of the robot was established,and the change speed and acceleration of the wire length were studied according to the rule of the pelvis movement.Fourthly,the dynamics modeling and control research of the robot were carried out.Based on the static analysis of the robot,the dynamic model of the robot was established and the position controller based on the dynamic model was designed.The ideal trajectory of the robot was tracked with the designed controller.Fifth,the robot control system was designed.According to the result of theoretical analysis the hardware of control system was selected.The control algorithm of control systembased on the GTS-800-PG-G 8 axis movement control card was written,and a friendly man-machine interface was designed by VS2010.With the analysis of the robot's freedom and working space,the output of the designed robot could satisfy the movement freedom output and trajectory requirements of the pelvis.Based on the kinematics and dynamics model established in this paper,the movement of the pelvis was simulated in the normal movement.And the simulation experiment results show that the velocity,acceleration and tension variation of the wire are relatively smooth,which can realize the smooth control of the pelvis motion.The designed control system will providespecific training patternsbased on the patient'sdifferent body type parameters and lower limb support capacity.Therefore,the Co-use of the robot designed in this paper and the standing lower limb rehabilitation robot will realize the coordination movement of the pelvis and lower limbs,solving the problem of chronic disability.