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针对偏瘫患者在康复期缺乏合适训练器的问题,基于曲柄连杆机构上的点可实现椭圆轨迹的原理,设计了一款下肢康复机器人.此机器人可安装在普通椅子两边,带动偏瘫下肢做康复锻炼.首先进行了健康者坐在椅子上做类似于骑自行车的蹬腿运动实验,确定了蹬腿轨迹和腿部运动参数;运用Solidworks对此机器人进行三维建模,确定了合适的安装尺寸和安装位置;又运用ADAMS对其进行仿真,分析了使用它实现的轨迹形状、达到的轨迹幅度和下肢达到的锻炼角度情况.结果证明:这款机器人可以满足偏瘫患者进行下肢康复训练的要求,长期使用它进行锻炼可达到修复受损肌肉、增强肌肉活力的目的.
Aimed at the lack of appropriate trainer in hemiplegia during rehabilitation period, the principle of ellipse trajectory can be realized based on the points on crankshaft connecting rod mechanism, and a lower limb rehabilitation robot is designed. The robot can be installed on both sides of the common chair to drive hemiplegic lower limbs to recover Exercise.First, a healthy person sitting in a chair to do a bicycle-like kick exercise experiment to determine the kick trajectory and leg movement parameters; using Solidworks three-dimensional modeling of the robot to determine the appropriate installation size and installation location And then use ADAMS to simulate it and analyze the trajectory shape, the trajectory amplitude and the angle of exercise achieved by the lower limbs.The results show that this robot can meet the requirements of lower limb rehabilitation training for patients with hemiplegia, long-term use it Exercise can achieve the purpose of repairing damaged muscles and enhancing muscle vitality.