Resreach On The Key Technology Of Cable Driven Rehabilitation Robot

Robot system have been applied in rehabilitation treatment for patients with disabling dyskinesia in recent years.For example,application of robot technologies in upper limb rehabilitation training can have lots of labor saving.An upper limb rehabilitation robot system based on cable-driven was proposed in this thesis.The research of the above robot system is list as below.A review of the exist rehabilitation robots,include cable-driven robot systems are discussed in detail.The anatomy of the upper limb of human being and rehabilitation exercise therapy theory was combined with together,which lead to the design requirements of the upper limb rehabilitation robot.The structure of upper limb joint of human being was analyzed.The joint structure and parameters of robot systems which developed in this thesis was carried out based on the above conclusion.The strength of the robot structure was qualified based on FEM simulations.The improvement of the transmission was done based on the analyze of the slip phenomenon of the steel wire rope during the dynamic process of the robot system.The structure of wire rope driven system and the driven motor was chosen based on above discussion.The whole structure was modeled in SolidWorks,and strength qualified base on ANSYS FEM simulations.The kinematic model of the robot system was established based on D-H method.The working space of the robot system was deduced from the Monto-Carlo random value method in MATLAB.The dynamic model and joint moment equation were set up and solved base on the Lagrange equations.The dynamic process of the robot system was simulated in MATLAB and ADAMS software respectively.The control strategy for the driven motor and rope tension control in the robot were designed.A fuzzy adaptive PID controller for the robot system was established based on the above dynamic model and control strategy for each joint,which was verified in Simulink.A test platform for the cable driven mechanism was set up,which can used to test the rope tension control strategies and performance.The structure and components of the test platform was discussed in this thesis.The actual experiments will be done in future work.