下肢康复训练机器人腰部机构建模与运动学仿真研究

关键词：脑卒中  康复训练  康复机器人  运动学仿真

Keywords:stroke  rehabilitation training  rehabilitation robot  kinematics simulation

摘要：

      摘要 目的：分析所设计的下肢康复机器人腰部机构能否满足脑卒中患者的康复需求，并根据分析结果对机构进行优化。 方法：对腰部机构进行运动学建模和正逆解计算，在此基础上，根据患者在行走康复训练中腰胯部的运动学特点，利用MATLAB软件对机构进行运动学仿真，并分析仿真结果，以此来判断所设计的机构能否满足脑卒中患者在康复训练时的需求。 结果：滑块机构可以实现患者在行走康复训练过程中腰部的上下起伏运动，两个平行四边形机构和两个转动副共同作用可以完全实现患者腰部的左右摆动，转动副和末端的两个球面副可以实现患者腰部的三个旋转自由度。 结论：康复机器人腰部机构能够满足患者在行走康复训练时腰部的运动需求。

Abstract:

      Abstract Objective: To analyze the designed lower limbs rehabilitation training robot's waist mechanism. to see if it can measure up to the paralytics' need for rehabilitation, and optimize the mechanism according to the analysis result. Method: On basis of positive solution and inverse solution calculation for the waist mechanism, and according to the kinematics characteristics of patient's waist in the process of walking rehabilitation training, MATLAB was used to do the kinematics simulation of the mechanism, and whether the designed mechanism could measure up to the paralytics' need for rehabilitation in training was judged after analysis. Result: The slider mechanism could achieve the up and down movement of patient's waist in training, two parallelogram mechanisms and two revolute pairs could achieve the horizontal movement, and two revolute pairs and two spherical pairs could achieve the three rotational degrees of freedom. Conclusion: The rehabilitation robot's waist mechanism could satisfy the need of movement of patients' waist in rehabilitation training process.