Research on the Wire-driven Parallel Rehabilitation Robot

摘要

In order to coordinate and control patients' pelvic movements during the course of rehabilitative training,it designs a 4-DOF wire-driven parallel robot with six wires.Using closed-vector quadrilateral method and Newton-Raphson iterative method,it establishes the inverse and forward kinematic models of the wire-driven parallel robot,calculates the changes of the six wires' length,velocity and acceleration based on the model.With the help of human pelvic movements,it simulates the kinematic of the wire-driven parallel robot.An experiment platform is fabricated so as to verify the kinematic models.