The Research Of Control And Design For Lower Limb Rehabilitation Robot

At present,the increase in the ageing problem and the increase in the number of people with disabilities in society all make it possible to increase the demand for lower limb rehabilitation robots that can assist humans in fulfilling certain behaviors.The development prospects of lower limb rehabilitation robots are broad.After researching and analyzing domestic and foreign research processes for lower limb rehabilitation robots,the thesis designs a lower limb rehabilitation robot with rehabilitation training as the main function and posture conversion function as the auxiliary.Firstly,the thesis analyzes the rehabilitation principle of physical training for handicapped limbs and the normal gait of the human body,and analyzes the concept and the principle of the movement of each joint of the human lower limb.On this basis,the overall design of the mechanical structure of the robot is designed to design a lower limb rehabilitation robot that can train both in rehabilitation and autonomous movement.The lower limb training mechanism is specifically designed to simulate the linkage of hip joints and knee joints with a multi-linkage mechanism.The posture conversion mechanism is designed to use a simple and practical V-bar linkage mechanism to lift the training mechanism and establish a three-dimensional model.Secondly,the kinematics analysis is carried out for the training institutions' hip joints,knee joints and posture conversion mechanisms.Establish a mathematical model to analyze and solve its speed and acceleration parameters.The parametric curves of the mathematical model are drawed by Matlab and be compared with the simulation curve of the established three-dimensional model to verify the accuracy of the establishment of the mathematical model.The dynamics analysis of the rehabilitation robot's training mechanism are aimed to get the equations of motion for the hip and knee joints.And these equations are the basises of the design of the controller.Finally,the training mode and control method of the rehabilitation training are analyzed and researched.The controller based on fuzzy PID control is designed to realize the accurate control of the robot training mechanism and the simulation is verified by Matlab.And PWM speed control is used to control the speed.The hardware control system of the training organization is designed.