CN-121978895-A - Waist rehabilitation robot control system verification method based on multi-platform collaborative simulation

CN121978895ACN 121978895 ACN121978895 ACN 121978895ACN-121978895-A

Abstract

The invention discloses a waist rehabilitation robot control system verification method based on multi-platform collaborative simulation, belongs to the field of rehabilitation robots, is suitable for a waist rehabilitation robot with a 3-RPS parallel mechanism, and can be popularized to a complex parallel system. The method comprises the steps of constructing a SOLIWORKS-ADAMS-MATLAB-OPENSIM collaborative simulation platform, constructing an ADAMS and MATLAB/SIMULINK joint simulation interface after three-dimensional modeling, dynamics and inverse kinematics analysis, designing a fuzzy PID self-adaptive control system, realizing real-time interaction of a control algorithm and a mechanical system, and verifying the effectiveness and robustness of a control strategy by combining typical rehabilitation motion simulation, human motion data and OPENSIM man-machine coupling analysis. The method can reduce cost of the prototype, shorten research and development period, improve track tracking precision and anti-interference capability, and ensure safe and reliable rehabilitation training.

Inventors

ZHAO XIAOYU
CHEN YANWEI
JIANG DAWEI
YANG HUIXIANG
DAI JIACHENG
XU QIPEI
Cai Jinhang
MA BO

Assignees

长春工业大学

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (6)

1. A waist rehabilitation robot control system verification method based on multi-platform collaborative simulation is applied to the design of a simulation and control system of a waist rehabilitation robot, and is characterized by comprising the following steps: s1, a three-dimensional geometric model of the lumbar rehabilitation robot based on a 3-RPS parallel mechanism is established in SOLIWORKS, the 3-RPS parallel mechanism comprises a revolute pair, a shifting pair and a ball pair, the geometric model comprises a stand frame, a trunk upper supporting mechanism, a trunk lower supporting mechanism and a driving system, all the component models are assembled into an integral model, and parasolid files in an x_t format are exported; S2.2, importing the x_t format file into ADAMS, defining the material properties and inertia parameters of all parts and the motion constraints of a revolute pair and a kinematic pair, endowing a preset rehabilitation motion track and parameters, and completing the simulation verification of the kinematics; s3, carrying out working space analysis on three independent degrees of freedom of the 3-RPS parallel mechanism in MATLAB based on an inverse kinematics model by adopting a numerical solution, and generating a motion track curve, wherein the three independent degrees of freedom are displacement along a Z axis, rotation along an X axis and rotation along a Y axis, and the numerical solution is used for sampling the three independent degrees of freedom, screening effective sample points by combining mechanical constraint, kinematic constraint and kinetic constraint, generating a working space boundary, realizing visualization, and simultaneously generating the motion track curves of the trunk upper supporting mechanism and the trunk lower supporting mechanism; s4, constructing a multi-platform cooperative fuzzy PID control system and completing joint simulation, wherein the method specifically comprises the following steps: s4.1, constructing a waist rehabilitation robot simulation model in an ADAMS, setting a motor corner and electric cylinder displacement as output variables, and exporting the simulation model to MATLAB through a CONTROL module of the ADAMS; s4.2, constructing a fuzzy PID control system in a SIMULINK of MATLAB, wherein the fuzzy PID controller takes a track error e and an error change rate ec as double inputs, and adjusts the quantity of PID parameters For three outputs, the simulation model derived from ADAMS is used as a controlled system to be imported into the fuzzy PID control system, so that real-time data interaction between a control algorithm and a mechanical system is realized, and a fuzzy PID self-adaptive control scheme is determined; s5, comparing simulation data with a theoretical model calculation result, verifying the correctness of the kinematic forward and backward solution, executing typical rehabilitation motion simulation such as forward flexion and backward extension, lateral flexion and waist twisting, analyzing the track tracking performance, acquiring human body motion data through QUALISYS, importing the human body motion data into OPENSIM, loading a human skeleton model and a rehabilitation robot model, setting human-computer interaction constraint conditions, and analyzing the joint angle change, the muscle force distribution and the contact force characteristics to verify the effectiveness, the robustness and the safety of a control strategy.
2. The method for verifying the lumbar rehabilitation robot control system based on the multi-platform collaborative simulation according to claim 1, wherein in the step S1, the building of the three-dimensional geometric model of the lumbar rehabilitation robot comprises the steps of respectively building three-dimensional models of all parts, completing the assembly of all the part models according to the actual assembly relation of the lumbar rehabilitation robot, forming an integral three-dimensional geometric model, and then exporting parasolid files in an x_t format.
3. The waist rehabilitation robot control system verification method based on the multi-platform collaborative simulation according to claim 1, wherein in the step S2 and the step S3, the preset rehabilitation movement track and the parameters are set according to the preset movement rehabilitation modes of the trunk upper supporting mechanism and the trunk lower supporting mechanism so as to simulate the action execution process of the actual rehabilitation training; the working space of the trunk upper supporting mechanism is 0-900 mm in the changing range of the X axis, the changing range of the Y axis is-700 mm, and the maximum rotating angle of the supporting platform is 30 degrees; Three independent pose parameters of the 3-RPS parallel mechanism of the trunk lower supporting mechanism are translation along a Z axis, rotation along a Y axis and rotation along an X axis, the corresponding working space is in a working space change range of-400 mm to 700 mm along the X axis, 600 mm to 600 mm along the Y axis, 300 mm to 1800 mm along the Z axis, the maximum rotation angle of the 3-RPS parallel mechanism is 60 degrees along the Y axis, and the maximum rotation angle of the 3-RPS parallel mechanism is 60 degrees along the X axis.
4. The waist rehabilitation robot control system verification method based on the multi-platform collaborative simulation according to claim 1, wherein in the step S2.1, the establishment process of the inverse kinematics model of the trunk lower support mechanism comprises the steps of establishing a constraint equation between three independent pose parameters and three non-independent pose parameters in pose parameters of a movable platform of the 3-RPS parallel mechanism based on constraint characteristics of a 3-RPS parallel mechanism of the trunk lower support mechanism, determining correspondence between the independent pose parameters and three degrees of freedom of the 3-RPS parallel mechanism based on the constraint equation, and deducing a trunk lower support mechanism position inverse kinematics equation representing mapping relation between pose of the mechanism and three revolute pair motion parameters through the pose transformation equation; Based on the 3-RPS parallel mechanism of the trunk lower supporting mechanism, constraint equations between three independent pose parameters and three dependent pose parameters in the pose parameters of the movable platform are as follows: ; wherein the movable platform is a leg support plate of the waist rehabilitation robot and is of an equilateral triangle, and the vertex of the movable platform is marked as The side length is The pose parameters of the movable platform comprise edges Amount of translation of shaft And winding Rotation angle of shaft ; For the parameters of the independent pose, The non-independent pose parameters can be represented by independent pose parameters, so that the pose matrix of the parallel mechanism at the lower part of the trunk has three degrees of freedom, namely the edges respectively Axial translation Winding Rotation of the shaft Winding Rotation of the shaft ; 3-RPS parallel mechanism based on trunk lower support mechanism, and establishing a movable platform coordinate system And a fixed coordinate system The moving platform coordinate system Relative to the fixed coordinate system The pose matrix of (a) is: ; In the middle of Is a moving platform coordinate system Fixed relative coordinate system Is used for the pose transformation matrix of the model (1), For the rotation transformation matrix sin is abbreviated as s and cos is abbreviated as c.
5. The method for verifying a lumbar rehabilitation robot control system based on multi-platform collaborative simulation according to claim 4, wherein in step S1, a three-dimensional geometric model of the 3-RPS parallel mechanism of the lower torso support mechanism is built according to the following structure: The three-dimensional geometric model of the 3-RPS parallel mechanism of the lower trunk supporting mechanism is structured as follows, wherein the fixed platform of the base part of the 3-RPS parallel mechanism is in an equilateral triangle, and the vertex of the fixed platform is recorded as The side length is set as Fixed coordinate system The origin of the (C) is arranged at the outer center of the fixed platform, the plane of the fixed platform is a plane determined by an X axis and a Y axis, the 3-RPS parallel mechanism is also provided with a movable platform which is in an equilateral triangle shape and is used as a leg supporting plate of the waist rehabilitation robot, and the vertex is recorded as The side length is set as Dynamic coordinate system The plane of the movable platform is the plane of the movable platform.
6. The lumbar rehabilitation robot control system verification method based on multi-platform collaborative simulation according to claim 1, wherein in step S4.2, the PID adjustment output of the fuzzy PID control system is: The parameter correction formula of the fuzzy PID is Wherein, the method comprises the steps of, In order to control the output of the device, As a result of the track error, In order to be a speed error, The parameters are adjusted in real time for the PID controller, Respectively representing the initial set point of the PID controller, Respectively represent the adjustment values output by the fuzzy controller.

Description

Waist rehabilitation robot control system verification method based on multi-platform collaborative simulation Technical Field The invention relates to the technical field of rehabilitation robots, in particular to a waist rehabilitation robot control system verification method based on multi-platform collaborative simulation, which realizes full-flow digital verification of a waist rehabilitation robot control system through multi-platform data interaction and collaborative simulation. In particular to a multi-body dynamics modeling, kinematics analysis, control system design, joint simulation verification and man-machine interaction analysis technology of a 3-RPS parallel mechanism rehabilitation robot. Background With the acceleration of the aging process of the population and the change of modern lifestyle, lumbar vertebra diseases have become one of the main diseases affecting human health. It is counted that about 80% of adults worldwide experience varying degrees of lumbago during their lifetime, and the need for lumbar rehabilitation therapy is growing. The traditional waist rehabilitation treatment mainly depends on manual operation of rehabilitation doctors, and has the problems of high labor intensity, low treatment effect standardization degree, large individual difference and the like. The waist rehabilitation robot is used as novel rehabilitation treatment equipment, can accurately simulate the treatment technique of a rehabilitation doctor, and provides personalized and standardized rehabilitation training for patients. However, the design of the waist rehabilitation robot relates to a plurality of disciplines such as mechanical engineering, control engineering, biomedical engineering and the like, the design process is complex, the development period is long, and the research and development cost is high. Currently, the design and development of lumbar rehabilitation robots mainly face the following technical challenges: 1. Based on the insufficient modeling precision of a mechanical system, the traditional CAD modeling method is difficult to accurately describe the dynamics characteristics of the robot, and the motion performance of the robot under the actual working condition cannot be accurately predicted; 2. The kinematics analysis method is imperfect, the kinematics positive solution problem of the parallel mechanism has multiple solutions and singularities, the traditional analysis method is difficult to obtain a closed-form solution, and the accuracy of the working space analysis is affected; 3. the control system design lacks an effective verification means and has a single control method, the control algorithm design is usually based on a simplified mathematical model, nonlinear factors and uncertainty in an actual system cannot be fully considered, and the control performance is difficult to guarantee; 4. the method has the defects of difficult human-computer interaction safety evaluation, lack of an effective human-computer coupling simulation platform, incapability of accurately evaluating interaction between a robot and a human body in the rehabilitation training process, potential safety hazards, long development period and high cost, and the traditional design method needs to manufacture a plurality of physical prototypes for test verification, has long development period and high development cost, and restricts the rapid development of the technology. In view of the above, a fast and accurate simulation method is urgently needed in the industry, and the invention constructs a simulation analysis method which is special for the parallel waist rehabilitation robot and integrates mechanical dynamics model verification and intelligent self-adaptive control strategy verification. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a waist rehabilitation robot control system verification method based on multi-platform collaborative simulation, which realizes full-flow digital design of mechanical system modeling, kinematic analysis, control system design, simulation verification and man-machine interaction analysis of a waist rehabilitation robot by establishing a multi-software collaborative simulation platform, thereby improving design efficiency, reducing development cost and ensuring safety and effectiveness of rehabilitation training. The core technical characteristics are a multi-software collaborative simulation platform, parallel mechanism working space analysis based on a numerical solution and a fuzzy PID self-adaptive strategy. The method is characterized by comprising the following steps of: step S1, establishing a three-dimensional geometric model of the lumbar rehabilitation robot in SOLIWORKS, classifying the geometric models of all the parts and respectively storing the geometric models into an x_t format; S2, finishing multi-body dynamics model construction and kinematic simulation verification, wherein the steps compri