Motion Control Of 6-DOF Rehabilitation Robot Based On Washout Algorithm Robot

With the trend of global population aging,vestibular organ degeneration leads to the dysfunction of balance function,as well as the failure of vestibular function caused by various other reasons,more and more patients need more timely treatment.However,since the resources of rehabilitation trainers are far less than the number of patients,a rehabilitation robot equipment is urgently needed to replace doctors to carry out rehabilitation training on patients.To tend to the recovery of vestibular organs need lasted longer acceleration test,it will increase the displacement platform,can not be directly set up huge space to implement this to displacement,so on the basis of multi degree of freedom platform to join the washout algorithm,to make patients in multi degree of freedom platform to make the action to simulate the movement of the infinite space,and repeat many times for rehabilitation training,so as to achieve the aim of gradually restore the vestibular sensory meaning.Based on the 6-PSS mechanism,the spatial coordinate system is established on the basis of this mechanism and the kinematics analysis is carried out to complete the transformation of the motion of the moving platform.For example,the transformation of the velocity,angular velocity,acceleration,displacement and angular displacement between the moving coordinate system of the moving platform and the static coordinate system of the static platform is completed.It also analyzes how six high-performance linear motors drive the connecting rod to make corresponding displacement in order to make the platform robot move the platform to make related movements.The specific kinematics calculation formula is given and the transformation proof is obtained to pave the way for the design of the washing algorithm.In order to make the rehabilitation action of rehabilitation robot more effective,it is necessary to analyze and research one of the most suitable washing algorithm for rehabilitation robot from the current three washing algorithms.After analyzing the three washing algorithms,the most suitable one is selected through comparison.In this way,the motion after the algorithm can fool the brain to create a sense of wireless spatial movement,so as to achieve the purpose of stimulating vestibular rehabilitation.However,because the transfer function calculated by this model is used as a filter,relevant parameters must be debugged for several times to achieve appropriate actions and select appropriate parameters,and certain simulation analysis must be made on the selection of parameters.Finally,MATLAB/Simulink software is used to simulate the response action that the platform should make.The output result of the washing algorithm is the motion trajectory of the centroid of the moving platform,which must be combined with the mechanical model of the rehabilitation robot when it is finally applied to the rehabilitation robot,that is,the washing out action of the moving platform is incorrectly solved to the driving slider.In this paper,the co-simulation method of ADAMS and MATLAB is used not only to creatively realize the inverse solution of the washing action,but also to apply this method to the inverse solution of the trajectory of other multi-degree of freedom robots.For example:welding robot and so on.This research result and practical method have some practical significance to the inverse solution of robot motion.