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针对下肢康复训练机器人脚踏位置的匀速控制,首先运用仿真软件ADAMS分析了脚踏位置速度与不同角速度下曲柄转动角度的关系,得到了脚踏位置速度随曲柄转动角度变化的曲线图.结果表明:脚踏位置速度与曲柄转动角速度成正比例关系;不同曲柄角速度下脚踏位置有相同的速度波动率.在Matlab中进行了脚踏位置速度与曲柄角速度函数关系的分段拟合,并在ADAMS中验证,仿真数据表明脚踏位置的速度波动率明显降低,实现了速度均匀控制,为下肢康复训练机构运动轨迹的匀速控制提供了一种方法.
Aimed at the uniform control of foot position of lower limbs rehabilitation training robot, firstly, the relationship between the position of footrest and the rotation angle of crank under different angular velocities was analyzed by simulation software ADAMS, and the result showed that the position of footrest changed with the rotation angle of crank. : The pedal position velocity is directly proportional to the crank angular velocity. The footstep position has the same velocity fluctuation rate under different crank angular velocities. A piecewise fitting of the relationship between the pedal position velocity and the crank angular velocity function is carried out in Matlab. The simulation results show that the velocity fluctuation of the pedal position is obviously reduced and the uniform control of the velocity is realized, which provides a method for the uniform control of the trajectory of the lower limb rehabilitation training mechanism.