肢体康复训练机器人结构设计及运动学分析

摘要

In order to meet the needs of rehabilitation training of limb disabled persons, a new type of rehabilitation training robot with good man-machine integration and modular design for limb is developed in this paper, which is mainly composed of three parts, the upper limb rehabilitation mechanism, the lower limb rehabilitation mechanism and the supporting frame component;Based on the motion principle of the lower limb, combined with the mechanism movement, the human machine model is established, which is the four link rigid body model of the planar closed loop hinge;On this basis, the kinematics analysis and simulation are carried out, and the variation law for the joint angle, angular velocity and angular acceleration of the lower limb changing with the crank angle is deduced;In order to keep lower limb joint with uniform motion in the training process, the swing equation of lower limb joint is established,angular velocity curve of crank as driving component is obtained through the simulation which provides the kinematic parameters for intelligent control of the mechanism.%为满足肢体残障者康复训练的需要,研制了一种新型的人机融合性好、模块化设计的肢体康复训练机器人,本体结构主要由上肢康复机构、下肢康复机构、支撑架组件三部分组成;基于下肢运动机理,结合机构运动,建立人机学模型,即平面闭环铰链四连杆刚体模型;在此基础上,对其进行了运动学分析和仿真,推导出下肢关节角度、角速度、角加速度随曲柄角度的变化规律.为使训练过程中下肢关节匀速摆动,建立下肢摆动方程,仿真得到机构曲柄作为原动件时其角速度变化规律,为机构的智能控制提供运动学参数.