Trajectory Planning Based on Energy Optimization of Rehabilitation Robot on Sit-to-Stand Assistance

• Main Authors: Liao, Chih-Ting, 廖志挺
• Other Authors: Cheng, Pi-Ying
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/a86wrb

碩士 === 國立交通大學 === 機械工程系所 === 105 === Since that the majority of the developed countries in the world come to the social issue of aging population. Furthermore, no-lift policy in rehabilitation process is token attention and already legislated in some countries. Currently, various of the assistive technologies of rehabilitation robot in different applications have been developed and discussed. This study focuses on the development of sit-to-stand assistance robot considering energy-optimal trajectory planning for reducing the operation cost. First of all, this study presents the dynamic equations of sit-to-stand assistance robot derived by using Newton-Euler method. The fitness function regarding the energy cost is derived in the form as the product of torque and angular velocity. Both of the genetic algorithm and particle swarm optimization algorithm are adopted for generating the energy-optimal trajectories. Simultaneously, the proposed sit-to-stand assistance robot was modeled by SolidWorks, and then importing the geometric model was imported into RecurDyn for further dynamic simulation. Subsequently, the generated energy-optimal trajectories were imported to the dynamic model of sit-to-stand assistance robot in RecurDyn. The optimal trajectory with best combination of time interval set of t_a, t_b, t_c is thus evaluated to be confirmed through RecurDyn simulation. Finally, a four D.O.F.(Degree of freedom) Dobot v.1 arm was selected to form an experiment project to verify the conclusion conducted by the theoretical study. The comparison and discussion of the results solved by the simulation of RecurDyn and experiment verification are concluded. In conclusion, the solved trajectories under optimization process indeed the optimal results as comparing to the other trajectories. The best energy-saving trajectory providing the dynamic simulation of 3-DOF sit-to-stand assistance robot model and experimental verification using 4-DOF manipulator are all reaching the same conclusion.