Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

摘要

With the increasing demand for rehabilitation and the lack of professional rehabilitation personnel, robot-assistedrehabilitation technology plays an increasingly important role in neurological rehabilitation. In order to recoverthe exercise ability of patients with waist injury, a new type of wire-driven waist rehabilitation training parallelrobot (WWRTPR) is designed. According to the motion trajectory planning of waist rehabilitation training, twocoordinate systems are established: moving coordinate system and static coordinate system. The inverse kinematicsmodeling analysis is carried out, and the dynamic model of the robot is established by using Newton–Euler method.An intelligent control method of force/position hybrid control based on radial basis function neural network isproposed. The stability of the closed-loop system is analyzed, and the results show thatWWRTPR tends to be stable.The simulation analysis of rehabilitation training on WWRTPR is carried out, and the simulation results show thatthe proposed intelligent control method can effectively control the robot system, which provides a reference for thedevelopment of a flexible intelligent rehabilitation training robot.