Structure And Control System Design Of Weight-assisted Walking Robot

In the context of the accelerated aging process of the domestic population,elderly people with mild to moderate walking motor impairment make up the majority of its population,who have some mobility and I able to walk on their own or use mobility training equipment to complete walking movements.Therefore.The demand for walking training equipment for the elderly is increasing year by year.In response to the problem that most of the existing domestic weight loss training equipment for this type of elderly population is in situ stepping or treadmill installation,which is not highly intelligent and largely difficult to meet the needs of the elderly,this paper designs an indoor assisted weight loss walking training robot for this type of population to help the elderly improve their gait and restore their walking ability.The main research contents are as follows.First,the general structure design was carried out.Based on the review and analysis of relevant literature,the overall structure,weight reduction and control methods of this design were determined based on the indoor environment and the characteristics of the assisted weight loss walking training robot;the overall structure of the robot includes the support,mobile cart,weight reduction system,handrail,etc.;the mechanical analysis of the robot was carried out to select the appropriate motor and sensor,and the relationship between weight reduction and motor output torque was deduced.Second,finite element analysis of key components.The finite element simulation software was used to conduct static analysis of the overall structure of the simplified robot to obtain the displacement cloud and stress cloud,analyze the simulation results,obtain the most dangerous position of the structure during the training of the elderly,and verify the ultimate force of the robot at this position;then static and convergence analyses were conducted for the bracket and rotation axis respectively to verify the feasibility of the structural design.Third,the design and simulation of the weight reduction control system were carried out.The fuzzy PID control mode with two inputs and three outputs was selected to control the weight reduction force.The mathematical model of each transmission module of the weight reduction system was established to obtain the dynamics equations of the weight reduction system;the dynamics equations were used to perform PID and fuzzy PID force closed-loop control to adjust the output weight reduction of the motor.Then MATLAB is used to experiment the control system.The experimental results show that PID control takes 6s time to stabilize,while fuzzy PID control takes 2s time,and fuzzy PID control can meet the needs of the elderly Experiments show that PID control takes 6s time to stabilize,while fuzzy PID control takes 2s time.Fourth,Recognition and classification of the expressions of the elderly during training.A deep convolutional neural network model was used to recognize the seven expressions of the elderly during training,and the PYQT5 design software was used to classify the recognized expressions into three categories and control the gravity reduction during the next 5-minute training according to the change of expressions during the 5-minute training.Figure 61 Table 17 Reference79...