Design and control strategy of 3-prismatic-revolute-spherical ankle rehabilitation robot

摘要

Aiming at the position and pose control requirement of the ankle rehabilitation robot, two schemes of 3-PRS (Prismatic-Revolute-Spherical) parallel ankle rehabilitation robots are proposed, and the analysis and simulation of the control strategy are carried out. Two schemes of 3-PRS ankle rehabilitation robots are statically analysed by the finite element method. Through the stress comparison of the two schemes, the stable one is determined. Three control strategies including the traditional PID control, PID control based on the genetic algorithm and adaptive fuzzy PID control are proposed. A multidisciplinary co-simulation platform is established by the combination of ADAMS, SOLIDWORKS and MATLAB, and the three control strategies are verified. The best control strategy for the rehabilitation robots is determined by comparing control effects. This study lays a solid foundation for research on the control of the rehabilitation robots.