| With the rapid development of science and technology,the application of intelligent robots has expanded to more and more fields.Rehabilitation robots in the medical field are more and more widely used in rehabilitation training for patients with motor dysfunction.The cable-driven parallel robot has the advantages of large working space,fast speed,and has strong practical value.Since the existing cable-driven rehabilitation robots mainly adopt cable suspension or exoskeleton type,there is a problem that the rehabilitation training effect will be affected by muscle weakness during the initial training of rehabilitation patients.Therefore,this paper studies a new horizontal cable-driven type.Compared with traditional rehabilitation training,the modeling and control of rehabilitation nursing robots can effectively reduce the burden of patients during rehabilitation training and improve the comfort of patients during rehabilitation training.The research work of this thesis mainly takes the cable-driven rehabilitation nursing robot as the research object,and carries out system design,theoretical modeling,simulation analysis and experimental verification on it.Firstly,the cable-driven rehabilitation nursing robot is systematically designed.Determine the overall design plan and specific structure design according to the requirements of rehabilitation training,explain the working principle of the robot;design the size of the robot based on the range of human motion;select the intelligent nursing bed as the bed body of the robot,design the structure of the cable suspension system and cable distribution;combine rehabilitation training with the robot's human-computer interaction device to improve the efficiency of rehabilitation.Secondly,analyzed the kinematics and dynamics of the cable-driven rehabilitation nursing robot.In the kinematics analysis,considering the difference between the robot and the existing cable-driven robot structure,analyze the robot cable reel movement on the guide rail and the influence of the cable end elastic module on the inverse kinematics solution,plan a spatial triangle motion trajectory,and use simulation analyze the change of cable length and cable length speed.Use the Lagrange method to model the dynamics of the robot,study the influence of the elastic potential energy of the cable end elastic module on the system dynamics model,and consider the dynamics of the cable end moving platform and the reel separately to establish a cable end platform and the dual-space dynamics model of the reel to improve the control accuracy.Thirdly,the control design of the cable-driven rehabilitation nursing robot is carried out.Above all,design a dual-space integral sliding mode controller based on the mathematical model established by the cable-driven rehabilitation nursing robot platform;then,in view of the interference in the system model and the dynamic uncertainty of modeling,design an anti-disturbance controller based on the disturbance observer;lastly,because the observation of cable length change rate often contains errors,a sliding mode controller based on a highgain observer is designed.The simulation verification of the controller proves that the sliding mode control based on the high-gain observer has the best control performance.Finally,an experimental platform for cable-driven rehabilitation nursing robots is built for experimental verification.Analyze the control principle of the robot,control the position of the end effector by controlling the length of the cable;describe and analyze the design of the control system,design three kinds of motion trajectories,and verify that the cable-driven rehabilitation nursing robot can effectively perform the desired trajectory through real human experiments. |
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