Research On Structure Design And Control Of Waist Rehabilitation Robot

With the development of science and technology,medical rehabilitation becomes more important in the period of patient treatment.The auxiliary treatment based on intelligent motion rehabilitation robot is one of the main direction of medical rehabilitation.This paper is based on the existing waist rehabilitation movement forms,and a waist rehabilitation robot is designed.The kinematics modeling and mechanical characteristics are analysed,and experimental verification is completed through the prototype.Main contents of this paper are as follows:(1)Research background and the status of development of the rehabilitation robot at home and abroad are discussed.The methods of waist rehabilitation theory are discussed,and design requirements of waist rehabilitation robot are proposed.The waist rehabilitation robot is designed based on the human engineering.The robot has six degrees of freedom,including three degrees of freedom in the spine flexion,lateral bending and rotation,one degree of freedom in lumbar flexion,and two degrees of freedom in the hip and knee flexion and extension.(2)In this paper,kinematical analysis of the spinal motion mechanism of rehabilitation robot is analysed based on D-H method,and its kinematics equation is obtained,and the working space are simulated.The kinematics modeling and mechanical characteristics are analyzed in the mechanisms of lumbar flexion and lower limb flexion and extension,and through the simulation analysis of displacement,velocity and drive force changes of various parts.During the movement process of lower limb,the peak stress of lower limb is optimized to obtain the optimization size of structure,reducing the rigidity of robot to patients in the process of its movement.(3)The control system of waist rehabilitation robot is designed based on the in kinematics simulation in the process of mechanism movement,work space trajectory,the range of motion,mechanics characteristic analysis and structure optimization.All parts of stepper motor position and speed of motion is controlled through serial port communication sending control instruction,Rehabilitation robot joint range of motion and movement scheme and reset motion are completed.(4)Prototype experiment platform of waist rehabilitation robot is set up based on reduction redesign in equal proportion of whole structure,using 3D printer,Arduino microcontroller,stepper motors and driver modules.The feasibility of its movement scheme is verified by sending instructions by PC computer.Displacement precision of single axis motion is verified by comparing measuring data and theoretical simulation.