| With the increasing number of aging population in China,the risk of neurological diseases and cardiovascular and cerebrovascular diseases becomes higher.These diseases will be accompanied by various degrees of hemiplegia symptoms.Some patients can recover their motion function through post rehabilitation therapy.Rehabilitation training requires long time assistance from medical staff.In order to reduce the work intensity of medical staff,rehabilitation robot research is becoming more and more extensive.In the whole process,it is particularly important to ensure the training safety of the patients.The upper limb is very fragile in the early stage of rehabilitation training,and it is easy to cause secondary damage.Therefore,higher requirements for the safety of the rehabilitation robot are needed to put forward.In order to improve the training safety of patients and the motion performance of HEBUT–AR2 upper limb rehabilitation robot further,the key mechanism of HEBUT–AR2 upper limb rehabilitation robot was optimized,and the control system was further studied.In this paper,the optimization scheme of the key mechanism of HEBUT–AR3 upper limb robot rehabilitation was proposed.The rope wheel transmission mechanism was adopted to solve the phenomenon of jumping teeth in the original lasso drive mechanism of which the chain wheel and chain are over loaded.The load condition of the rope wheel and the steel wire rope in the transmission mechanism was analyzed,and the finite element analysis was carried out on the key parts.On the mechanical structure,the rotation training of the forearm and wrist training were increased.In order to improve the safety of patients' rehabilitation training,a position adjustable mechanical limit was set up on each joint to ensure the safety of the patient's training and improve the range of application.Secondly,the motion trajectory planning of the HEBUT–AR3 upper limb rehabilitation robot was carried out.The kinematics equations of this robot were established,and the positive and inverse kinematics analysis were carried out with the help of Matlab and LabVIEW software.LabVIEW software is used to analyze joint space trajectory planning and cartesian space trajectory planning,and the Host computer interface of trajectory planning was established.Thirdly,the control system of the HEBUT–AR3 upper limb rehabilitation robot was researched and implemented.The control system consisted of Host computer and Slave computer.In order to meet the need for simplicity control and robot work monitoring,the Host computer control system was established by LabVIEW software,mainly including the login system,active control mode,passive control mode and trajectory planning,and also analyzing the controller of the digital PID algorithm and the acceleration and deceleration algorithm.The control program of the slave computer was written by KEIL5.0 software,the step motor was mainly controlled by the trapezoid acceleration and deceleration algorithm.In order to realize the real time of data transmitting between the Host computer and Slave computer control system,the processor in the Slave computer system used the STM32F103ZET6 microprocessor to build the peripheral circuit and the drawing of the PCB diagram of the control board.The input buck circuit and force transducer amplifier circuit were simulated and analyzed by Multisim software.Finally,the experiment was done.An entity model was manufactured and the Host computer control system experiment was carried out.In the experiment,the Host computer control system generated control commands to the Slave computer control system through the serial port,and Host computer control system received it to achieve multi-joint training experiment in passive mode and single joint training experiment in active mode.The Host computer control system received force and position data transmitted from the Slave computer control system,and the data was displayed on the Host computer control interface in real time. |
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