| The ankle is one of vulnerable parts in that joint of the low limb of the human body.Based on its structural characteristics,few degrees of freedom parallel mechanism is applied to the ankle rehabilitation robot.The 3-SPS/S parallel manipulator of three-freedom ankle rehabilitation robot is devised.Based on the kinematics and workspace analysis of ankle rehabilitation robot,the control system is designed and analyzed,and verified by the experimental platform.The main research contents of this topic are as follows:Firstly,the background and significances of the research are presented.The thesis investigates and summarizes the research about ankle rehabilitation robots at home and abroad.At the same time,the thesis analyzes the circumstance of the development of few degrees of freedom parallel manipulator.Based on the knowledge of clinical medicine,anatomic medicine and rehabilitation medicine,the design scheme of 3-SPS/S parallel manipulator is proposed.And the freedom degree of the mechanism is analyzed and verified by using the spiral theory.Secondly,the kinematics analysis of the 3-SPS/S parallel mechanism is carried out,and the inverse and positive position solutions are derived.The speed,acceleration and singular configuration of the ankle rehabilitation manipulator are analyzed according to the Jacobi matrix.In addition,the factors affecting the workspace of 3-SPS/S ankle parallel rehabilitation robot are analyzed,and the constraints affecting the workspace are pointed out.The posture workspace of the ankle rehabilitation robot is obtained through MATLAB software programming,which verifies the feasibility of rehabilitation movement.Thirdly,according to the kinematics inverse solution equation of 3-SPS/S parallel mechanism,PID and fuzzy PID control strategies based on joint space are proposed.The PID control system model and the fuzzy PID control system model of the 3-SPS/S ankle rehabilitation robot is established through the combined simulation of SolidWorks and SimMechanics.It is proved that the fuzzy PID control algorithm based on joint space has better control effect on 3-SPS/S ankle rehabilitation robot.Finally,the hardware structure of 3-SPS/S ankle parallel rehabilitation robot system is built,the upper computer interface and the lower computer control program are written.And the basic function experiment and analysis are carried out on the 3-SPS/S ankle rehabilitation robot experimental platform by using the joint space-based fuzzy PID control strategy proposed in this paper.Experimental results show that the fuzzy PID control algorithm based on joint space proposed in this paper has a good control effect on motion tracking and trajectory tracking of 3-SPS/S ankle rehabilitation robot.At the same time,the feasibility of 3-SPS/S ankle joint rehabilitation robot control system is verified. |
