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为实现节约人工成本,提高下肢康复训练效果的目的,提出了一种新型多连杆式下肢康复训练机器人。基于人体行走生物力学和人体行走的关节轨迹映射关系的研究,提出一种新型多连杆式下肢康复训练机器人,并对机器人进行了运动学建模与分析,求解了机器人的髋、膝关节角度曲线。同时,分析了关键结构参数对关节轨迹与下肢关节映射关系的影响,建立了关节轨迹与映射关系的复现性的机构评价指标,利用MATLAB软件对多连杆下肢训练机构的结构参数进行了优化,并依据分析结果对机器人结构参数进行了修正。
In order to save labor cost and improve the effect of lower limb rehabilitation training, a new type of multi-link lower limb rehabilitation training robot is proposed. Based on the research of joint trajectory mapping between human walking biomechanics and human walking, a new type of multi-link lower limb rehabilitation training robot is proposed. The kinematics modeling and analysis of the robot are carried out to solve the robot’s hip and knee joint angles curve. At the same time, the influence of key structural parameters on joint trajectory and lower limb joint mapping was analyzed, and the recurring mechanism evaluation index of joint trajectory and mapping was established. The structural parameters of multi-link lower limb training mechanism were optimized by MATLAB software , And according to the analysis results, the robot structural parameters were revised.