Design and Research of the Wire - Driven Lumbar Parallel Rehabilitation Device

摘要

In this paper, a new type of wire-driven lumbar parallel rehabilitation device is designed based on the wire-driven parallel robot to realize the purpose of rehabilitation training the lumbar of the patient. On the basis of designing the mechanical structure, the kinematics of the device is analysed by Newton iteration method and the dynamic equation is solved. The kinematic trajectory is simulated according to the data of the lumbar of the rehabilitation patient. Using fuzzy sliding mode control, the controller is designed to output the force and movement needed in the rehabilitation process to ensure the normal function of the lumbar function.