Design of Mechanical Structure and Tracking Control System for Lower Limbs Rehabilitative Training Robot

摘要

This paper describes a new design of mechanical structure and tracking control system for lower limbs rehabilitative training robot. The robot is designed to improve walking ability of patients who suffer from impairment in locomotion after neurology injuries or aged persons who lack walking capability. This paper improves mechanical structure and control system of former lower limbs rehabilitative training robot which can move within any radius in any direction using omnidirectional wheels. By means of virtual prototyping technology, a precise virtual digital prototype of the robot has been built based on Pro/E and Adams. The mechanical modeling process and simulation parameters are introduced in details. Simulation results of real kinematical process demonstrate the effectiveness of this robot. Furthermore, a sliding mode tracking controller is put forward and its stability is analyzed. The control voltage of omnidirectional wheel structure is also analyzed in practical applications. Simulation results of robot tracking controller illustrates the correctness of the proposed method.