Design And Experimental Study Of A Compact Waist Rehabilitation Robot

With the change of working methods and the trend of aging population,lumbar diseases such as lumbago and lumbar dysfunction have become a major problem in people's lives.However,the traditional waist rehabilitation requires patients to go to the hospital frequently for treatment,which will affect the daily working and living of patients and increase the financial burden of patients.In addition,there are two common problems in traditional waist rehabilitation equipment: one is rigid drive,which can easily cause secondary injury if not operated properly;the other is that the rehabilitation equipment is too bulky for household use.Therefore,this paper selects pneumatic artificial muscle as the driving device,designs a compact home waist rehabilitation robot with flexible driving,and analyses and controls it.The major work of this paper is as follows.First,according to the waist structure and motion law,the structure design and physical manufacture of the waist rehabilitation robot are carried out.The waist is simplified as a spring to establish the kinematics and statics model,and the transformation of coordinate system and closed vector method are used for kinematics analysis.Besides,Timoshenko spring small bending theory is used for static analysis.By combining kinematics analysis,static analysis and equivalent spring parameters of the waist,kinematics and static mechanics simulation of the waist rehabilitation robot are carried out,and the relationship between the length of pneumatic artificial muscle and the angle of waist movement is obtained.Then the structure,working principle and basic characteristics of pneumatic artificial muscle are introduced.Based on the pneumatic artificial muscle control system,the dynamic characteristic equation and the dynamic characteristic equation of pneumatic artificial muscle and the proportional flow characteristic equation of the control system are established.Consequently,the nonlinear dynamic mathematical model of the pneumatic artificial muscle control system is obtained.By linearizing it with the principle of small deviation linearization,the transfer function of the control system is obtained.Finally,a pneumatic artificial muscle PID controller is designed,and the control system of pneumatic artificial muscle is simulated and analyzed with MATLAB,and the response curves of step and sinusoidal signals are obtained.Based on the control principle,the control platform of pneumatic artificial muscle is built,and the displacement control of pneumatic artificial muscle is achieved using NI myRIO with LabVIEW programming,and the control results are analyzed.