绳索牵引并联康复机器人的建模与控制

Modeling and control of a wire-driven parallel rehabilitation robot

针对在康复训练过程中如何协调控制患者的骨盆运动轨迹问题,设计了一种绳索牵引并联康复机器人.在对机器人进行运动学和静力学分析的基础上,利用牛顿—欧拉法建立了机器人的动力学方程.在给出力分解模型的基础上,提出了一种力/位并行控制策略:位置环和力环分别用于实现患者骨盆运动轨迹和绳索张力大小的控制.最后对机器人控制系统进行了仿真分析,仿真结果表明,该控制策略不仅能满足对轨迹跟踪要求,而且具有很好的鲁棒性.

Wire-driven parallel robots were designed to coordinate and control the training of pelvic motion during the course of rehabilitative training. Based on an analysis on kinematics and statics of this kind of robots, the robot＇s dynamic equations were established using the Newton-Euler method. Considering that the wire should maintain tension when the system works in normal condition, a force decomposition model was built and a force/position parallel control strategy was proposed, in which the position loop maneuvers the robot＇s pelvic motion trajectory and the force loop controls wire tension. Finally the robot control system was simulated and analyzed. The results showed that the control strategy not only effectively provides the robot＇s tracking requirements but also has strong robustness.