Research On Trajectory Planning Of 3 DOFLower Limb Rehabilitation Robot

With the rapid development of modern robotics and medical industry,the use of rehabilitation robots to treat patients with lower limb sports injuries has become one of the research hotspots.In order to achieve better rehabilitation effect,this paper studies the trajectory planning of a 3-DOF lower limb rehabilitation robot,simulates the movement law of healthy lower limb joints,and optimizes the trajectory design of the lower limb rehabilitation robot.The lower limb rehabilitation robot based on the 2UU-UPU parallel mechanism,the research focus on the trajectory planning strategy.Analyzes the advantages and disadvantages of different modes of trajectory planning,uses the modern intelligent algorithm to carry out the optimization research of trajectory planning.Based on the movement of knee,ankle joint forms and rehabilitation,damage mechanism.Comparison and analysis of several less degrees of freedom planar symmetrical parallel mechanism.The 2UU-UPU mechanism is selected as the prototype of rehabilitation actuator.The closed-loop vector method is used to solve the inverse position of the mechanism.Numerical example is introduced to verify the position results.The workspace of the mechanism is studied by limit boundary search method.The trajectory planning of lower limb rehabilitation robot is studied,and the trajectory planning motion formulas of polynomial motion law,cycloid motion law and superimposed cycloid motion law are derived.In order to further explore a more reasonable rehabilitation trajectory,motion capture is used to collect ankle joint movement trajectory,and genetic algorithm is used to optimize the trajectory.Better rehabilitation effect can be achieved through the above methods.Adams and Matlab are used for simulation experiment.Using PID to control lower limb rehabilitation robot.The optimized trajectory is introduced into the control system for virtual rehabilitation experiment.The simulation results show that the trajectory of the robot is consistent with the planned trajectory,which meets the requirements of rehabilitation training.Figure 87;Table 8;Reference 59...