Research On Control And Simulation Of The Arm Exoskeleton

Robotics has becoming one of the most active fields in the modern scientific technology. It is the embodiment of nations' science and technology level. The therapy technology of hemiplegia rehabilitation aided by robot has gradually acquired the recognition of the native and abroad researchers, and it is becoming one of the hottest subjects. The exoskeleton technology is one of embranchments of the robot technology. It is an external structural mechanism whose joint correspond to those of the human body. The exoskeleton allows direct transfer of mechanical power and information signals. So it is very appropriate to use for rehabilitation of those movement functional disorder person.According as the application objects and hemiplegia rehabilitation theory, it was confirmed the design aim and the system scheme. The system model was established and the simulation of the arm exoskeletons was carried out. The main results in this dissertation are as follows.The paper at first systematically overviews the developing and application situation of rehabilitative exoskeleton, and puts forward the overall structure scheme for a 3 DOF arm exoskeleton. Based on the movement parameters of the various joints of arms, the solutions of the arm exoskeletons' kinematics and inverse kinematics equation were set up. The paper carried out the kinematics analysis and modeling of the arm exoskeletons. The simulation of the movement of the arm exoskeletons verifies the feasibility of the kinematics model established in the paper.Then, Based on Simulink/SimMechanics which is a dynamic simulation tool provided by MATLAB, a simulation model of dynamics analysis was established. After the setting of all simulation parameters, the simulation was carried out, the result of the motion and dynamic data was acquired conveniently. On the basis of above, the simulation of trajectory tracking control of the arm exoskeletons was carried out .It offered important data for the actual control of rehabilitating robot.Finally, Based on the dSPACE real-time platform, the HIL simulation was designed. The modularization procedure which consists of speed loop and location loop was developed by dSPACE RTI1103 hardware-in-the-loop simulation platform. The result was given. At the same time, the system effects on loads and system real time function were carried out and analyzed. The results indicate that the control system can meet the design request, and it has good stability, high controlling accuracy and well-operating capability.