Research On Key Technologies Of Multi-motor Coordination And Compliance Control System

Aging has brought about huge social problems,which are mainly manifested in the service for the aged,especially the medical service for the aged.Stroke,also known as "cerebral apoplexy",mainly occurs in the elderly group,and is one of the main causes of disability and death among Chinese residents.Rehabilitation training is an important means for stroke patients to return to health.At the same time,"early intervention,early treatment" is the basic principle to improve the rehabilitation effect of stroke patients.However,due to the limited number of therapists and inconsistent clinical experience level of therapists,rehabilitation training needs of stroke patients cannot be met.The appearance of rehabilitation robot provides a new solution to reduce the burden of therapists and improve the consistency of rehabilitation training effect.Aiming at the early rehabilitation training needs of stroke patients,this paper proposes to develop a lower limb rehabilitation robot which utilizes multi-motor coordination and flexibility control technology to provide a new training means of "early intervention and early treatment" for stroke patients in bed.First of all,this paper introduces in detail the rehabilitation needs of therapists and patients,the movement of human lower limbs and the movement modes and angles of each joint of human lower limbs.In order to deeply understand the movement mechanism of human lower limbs,the muscle force generation mechanism of human lower limbs muscles was analyzed,and on this basis,the mathematical modeling of human lower limbs muscles was carried out,and the knee joint muscle modeling of human lower limbs was established based on the muscle Hill model,which laid the foundation for the simulation of lower limb rehabilitation training environment for bedridden patients.Secondly,the structure and mechanical principle of the sitting-horizontal lower limb rehabilitation robot are introduced,and then the kinematics analysis of the lower limb rehabilitation robot is carried out with the D-H matrix method,and then the Lagrange method is used for the robot dynamics analysis,which lays the foundation for the robot control.Then,the overall control system of the bedside lower limb rehabilitation robot is designed,including the construction of the robot control system,the electrical circuit design of the control system and the design of the software program and interactive interface.The lower limb rehabilitation robot includes the robot body and the motor and sensor on the body,the electrical cabinet and the driver in the electrical cabinet,CAN communication,switching power supply and PC and other hardware equipment.The interactive interface is designed by C++Builder,which is based on C++ language,and the program is written by this software.Again,the compliant control strategy of lower limb rehabilitation robot was studied and a multi-motor coordinated control scheme was developed.The PID control of lower limb rehabilitation robot is studied,and the position control and torque control are proposed.Fuzzy PID control and impedance control are studied,and force/position tracking control simulation experiments are carried out for impedance control.Immediately after,based on the above research,the lower limb rehabilitation robot was simulated and analyzed.Adams and Solidworks were used to conduct the ontology modeling of the lower limb rehabilitation robot,and then the dynamic response characteristics of Adams and Matlab were simulated.The Hill model of human lower limb muscle was built on the lower limb robot model in Adams,and the simulation experiment was carried out to simulate the rehabilitation training environment of bedridden patients.The simulation results show that the robot has better stability and dynamic performance of the motor during rehabilitation training.Finally,the experiment of robot rehabilitation training shows that the control strategy in this paper has good control performance and certain flexibility in the application of lower limb rehabilitation robot,and can carry out better rehabilitation training.