悬吊康复机器人设计与电流跟踪控制仿真分析  

Design of Suspension Rehabilitation Robot and Simulation Analysis of Current Tracking Control

作　　者：王飞[1] 张敏 桑春晓 邹峰 赵祥欣 冯永飞 Wang Fei;Zhang Min;Sang Chunxiao

机构地区：[1]宁波大学机械工程与力学学院,浙江宁波315211

出　　处：《机械制造》2024年第3期46-51,共6页Machinery

基　　金：国家自然科学基金资助项目(编号:52305025)。

摘　　要：设计了一种悬吊康复机器人,可以满足不同脑卒中患者的差异化减重需求,用于患者的平衡步态训练。对悬吊康复机器人进行机构设计,悬吊机构采用磁粉离合器驱动,并设计驱动电路。为提高输出电流的稳定性,提出反向传播神经网络比例积分微分控制,对悬挂康复机器人输出电流进行跟踪控制。通过电流跟踪控制仿真分析,验证了设计的合理性。A suspension rehabilitation robot was designed to meet the differentiated weight loss needs of different stroke patients for the balance gait training of patient.Mechanical design was performed on suspension rehabilitation robot.The suspension gear is driven by magnetic powder clutch,and the driven circuit was designed.In order to improve the stability of output current,the back propagation neural network proportional integral differential control was proposed to track and control the output current of the suspension rehabilitation robot.The rationality of the design was verified by the simulation analysis of current tracking control.

关 键 词：康复机器人 设计 电流 跟踪控制 仿真 分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]