Load Capacity-Oriented Reconfiguration Planning for a Reconfigurable Lower Limb Rehabilitation Robot

Reconfigurable cable-driven parallel mechanism can provide a variety of rehabilitation training modes for rehabilitation robots, and reconfiguration planning is the key research content of this kind of robots. In this paper, a novel reconfiguration planning method for load capacity maximization is proposed for a reconfigurable lower limb rehabilitation robot (RCDLR). Firstly, the dynamic model of RCDLR is analyzed based on its mechanism, and then the concept of force space of RCDLR is proposed. The load capacity index is defined in the force space, so that the optimization equation of reconfiguration planning is obtained, and the specific method of solving the reconfiguration planning problem is given. Then, according to the motion capture data of the lower limb rehabilitation exercise, the effect of the proposed reconfiguration planning method and another planning method is compared in the simulation analysis, and the results verify the effectiveness and superiority of the proposed reconfiguration planning method, which provides a theoretical basis for the subsequent RCDLR control research.