穿戴式下肢外骨骼康复机器人机械设计

摘要

The exoskeleton robot,used for the lower extremity dysfunction in patients with rehabilitation,was designed.Based on its function and working principle,structure and composition and the key issues in design process were analyzed.And according to bionics,the degree of freedom,the range of motion and the link size were designed,the preliminary analysis and optimization design of mechanical structures were made.It is the foundation for research,the analysis,the design for the further.%本文设计了一种用于下肢功能障碍患者康复治疗的外骨骼机器人。根据外骨骼机器人的功能与工作原理,分析了其结构组成与设计过程中的关键问题。并从仿生学角度为外骨骼机器人配置自由度,设定关节活动范围及连杆尺寸,对机械结构进行了初步分析与优化设计。为进一步的研究、分析、设计工作打下了基础。