手部康复机器人测控系统设计
本文首先概述了手部康复机器人的研究背景及发展现状，介绍了课题的研究意义及手部康复机器人的系统组成。
其次，根据人手模型，对人手进行结构和运动特点分析，设计了系统的机械装置。该装置由直流推杆电机驱动，可实现对手指的末端牵引，在正常运动范围内带动手指运动。
设计了系统的测控电路，实现对手部康复机器人驱动装置的启停和速度控制，以及对牵引机构的位置测量。设计了系统的测控软件，包括微控制器下位机程序和MFC上位机应用软件，实现了上下位机串行通信、控制指令下发以及测量数据读取等功能。
最后，对设计制作的手部康复机器人进行相关调试及实验，验证设计的合理性。
关键词 手部康复，连续被动运动，运动控制系统，应用软件开发
毕业论文设计说明书外文摘要
Title The Design of a Hand Rehabilitation Robot Control System
Abstract
Hand rehabilitation robot is a kind of robot that can assist the patients with impaired motor function doing rehabilitation training. Based on the clinical research, hand rehabilitation robot can play a positive promoting role in improving the impaired motor function of patients. With the heart and cerebrovascular diseases become more prevalent, the number of stroke patients is increasing, so the research is becoming a hot direction nowadays.
This article outlines the background and present situation of the rehabilitation robot hand, introduces the significance of the subject. Secondly, according to hand model, hand structure and motion characteristics were analyzed, and designed a mechanical device for the system. The device consists of DC motor can realize the end traction of a finger in a range of normal motion.
Then, this article from two aspects of hardware and software design introduces the hand rehabilitation robot motion control system. Hardware circuit mainly consists of the MCU, motor driving and control circuit, and serial communication circuit. Software design is mainly related to the programming to the micro-controller and the MFC PC program.
Finally, some research and experiments with the design of the hand rehabilitation robot are executed to verify the reasonableness of the design.
Keywords Hand rehabitation, Continuous passive motion, Motion Control Systems, Application Development
目 次
1 绪论 1
1.1 课题研究背景及意义 1
1.2 手部康复机器人发展现状 1
1.3 手部康复机器人的系统组成 4
1.4 课题研究内容 5
2 手部康复机器人机械系统设计 6
2.1 人手模型及其分析 6
2.2 驱动设备选择 7
2.3 CPM装置的结构设计 7
3 手部康复机器人的测控电路设计 10
3.1 电源电路设计 10
3.2 电机驱动及编码器电路设计 11
3.3 串口通信电路设计 14
3.4 微控制器电路设计 15
4 手部康复机器人测控软件设计 17
4.1 微控制器下位机程序设计 17
4.2 MFC上位机程序设计 26