Modeling and Control of a Cable Robot in Rehabilitation Application
Rehabilitation Science has shown that in most cases repeated movements of human limbs can help patients regain the functions of the disordered limb. In this regard, the use of robots can be very effective. Robotic systems for rehabilitation with logging information like position, trajectory, velocity and force play a role in recording the progress of patients’ therapy and provide a systematic approach to the adoption of those exercises. Cable robots have some characteristics like large workspace, low-cost, flexibility and being light weight which makes them suitable for rehabilitation purposes. In this thesis the design of a parallel cable robot for upper limb rehabilitation, is presented. Anatomy of shoulder and elbow joints and the range of their motions for physiotherapy purposes have determined and by considering them as the desired trajectory, the designing of robot has been accomplished. By choosing appropriate kinematic chains, rehabilitation robot follow desired trajectory properly and do not collide with patient and the patient can feel freedom and comfort. In addition to this, some other advantages of designed robot are: reducing the number of actuators and the number of parameters that should have changed in the control algorithm, for different patients. Next kinematic and singularity analysis of the proposed structure has been reported and isotropy of the robot has been confirmed. In the next step dynamic equations are derived by using the Lagrange method and finally, by using two methods of impedance and position control, stability and performance of robot is simulated.
|2012||M.Sc.||Parallel and Cable Robotics|