CAJ | 학술논문

为了实现下肢外骨骼康复机器人的实时跟随，并且恒力减重功能。在下肢外骨骼康复机器人顶部设立可移动的减重平台。采用LPC2132控制器对步进电机进行闭环控制。电路控制系统中，采用A/D转换模块获取传感器信号，PWM发射模块驱动步进电机运动，串口通信模块与上位机进行交互。利用Proteus对脉冲信号进行仿真，通过试验证明了系统具有稳定的运行状态。
위료실현하지외골격강복궤기인적실시근수，병차항력감중공능。재하지외골격강복궤기인정부설립가이동적감중평태。채용LPC2132공제기대보진전궤진행폐배공제。전로공제계통중，채용A/D전환모괴획취전감기신호，PWM발사모괴구동보진전궤운동，천구통신모괴여상위궤진행교호。이용Proteus대맥충신호진행방진，통과시험증명료계통구유은정적운행상태。
In order to achieve real-time follow and Constant weight loss function of the lower extremity exoskeleton rehabili-tation robot,a removable weight loss platform was set up at the top of the lower extremity exoskeleton rehabilitation robot. The controller LPC2132 is used for the closed-loop control of stepping motor. In the circuit control system,the sensor signal is got by A / D convertion module,the PWM transmitter module drives stepping motor,and the serial communication module is used to interact with the host computer. The pulse signal was simulated by Proteus. The simulation result proves that the system has stable operating state.