摘要
针对康复训练患者和治疗医师需求,提出一种新型下肢康复机器人,并对其进行被动式控制系统设计。使用Solidworks建立三维模型,制造样机并进行控制系统设计。建立运动学模型,并且对下肢康复机器人进行运动分析,结合CGA临床步态数据和RLA人体下肢步态,进行下肢康复机器人的运动轨迹规划。采用PID控制方法对运动轨迹进行跟踪控制,运用Simulink进行模拟仿真。设计基于位置阻抗的控制策略,使实际位置跟踪目标位置,以达到人机运动协调的目的。搭建控制系统平台,并且对样机进行周期步态速度检验和轨迹跟踪检验。
A new type of lower limb rehabilitation robot was proposed for the rehabilitation training patients and the treatment physician,and the design of the passive control system was carried out.Using Solidworks to establish a three-dimensional model,the manufacturing machine is designed with the control system.The kinematics model was established,and the motor movement analysis of the lower limb rehabilitation robot was carried out,and the motion trajectory of the lower limb of the body of the body was carried out in combination with the CGA clinical gait data and the gait of the rla body.The motion trajectory is carried out by pid control method,and the Simulink is used to simulate the motion.The design based on the control strategy of position impedance is designed to track the target position in the actual position to achieve the purpose of the coordination of the machine.The control system platform is set up,and the periodic gait velocity test and the trajectory tracking test are carried out.
作者
李勇
冀涛
尚会超
付晓莉
LI Yong;JI Tao;SHANG Hui-chao;FU Xiao-li(Zhongyuan University of Technology,Mechanical and Electrical College,He'nan Zhengzhou 451191,China)
出处
《机械设计与制造》
北大核心
2022年第7期250-255,共6页
Machinery Design & Manufacture
基金
河南省高等学校重点科研项目计划(19A460033)。
