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System Design and Research on Gait Control Experiment of the Walk Aid Training Robot

Author: XiaZhenTao
Tutor: ZhangLiXun
School: Harbin Engineering University
Course: Mechanical and Electronic Engineering
Keywords: Walk aid training robot Plevis control Gait control Kinematics Dynamic
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 224
Quote: 5
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Abstract


The walk aid training robot is a kind of rehabilitative robotics system, which has much application value in helping the paraplegics and the hemi-paralysis .The aim of this article is to realize the preliminary design of robot’s system platform, including the design of the pelvis position control mechanism and the gait control system of legs. The kinematics and dynamic simulation of every subsystem has been carried out. The research on the experiment of the gait control system of legs has been finished, which is the theory foundation of the research and application of the walk aid training robotThis thesis introduced the development of the rehabilitative robotics, and analyzed the application of the technology of wire-driven at home and abroad and also proposed the whole design programs of the walk aid training robot. By using Pro/E software, the whole structure design programs of the walk aid training robot were finished. By analyzing the whole system, the whole control programs of the robot system were proposed.The walk aid training robot includes the pelvis position control mechanism and the gait control system of legs. By making the kinematics simulation of the pelvis position control mechanism using SimMechanics and the 3D body model gait simulation, the rationality of the pelvis position control mechanism can control the movement of pelvis was certified .This thesis analyzed the gait control system of legs in detail. By kinematics analyzed and the mathematical model of dynamic, the dynamic simulation and the control simulation in the Matlab/Simulink environment have been done. The impact of the plastics and the tension force of wire were analyzed. The control system has been finished .By the research on the experiment, the correctness of the theory analysis was certified. The path control experiment of the gait control system of legs was carried out, the system was running smoothly, and has strong ability in anti-jamming. The track tolerance has reach the design goal, all these were demonstrated the correctness and the rationality of this system.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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