床式下肢康复训练机器人结构研究

发布时间：2018-06-02 06:38

本文选题：下肢康复训练 + 机构分析　；参考：《苏州大学》2015年硕士论文

【摘要】：当前随着社会的发展,人口结构的老龄化趋势逐渐加重,老龄化逐渐成为一个社会化的问题。老年人容易罹患心血管疾病和神经系统疾病,这类患者多伴有偏瘫症状和下肢运动障碍。早期的手术治疗和药物治疗固然重要,但后期的下肢康复训练对于下肢运动能力的恢复更为重要。下肢康复训练机器人的研究,对于节约人工成本,提高下肢康复训练效果具有重要意义。然而,现有的下肢康复训练机器人还存在着一些问题,一些结构简单的下肢康复训练机器人,功能单一,康复效果受限;另一些结构复杂的下肢康复训练机器人,造价昂贵,控制系统复杂,缺乏经济性。为实现结构简单,控制方便的目的,本课题研制了一种床式下肢康复训练机器人。首先,本文针对下肢康复训练机器人,了解分析了国内外现有下肢康复训练机器人,并对人体行走下肢运动机理和人体行走时下肢关节运动学关系进行研究,再基于人体行走下肢关节角度数据和人体行走下肢关节运动学关系对下肢康复训练机器人机械结构的拟人化设计。然后,本文在下肢康复训练机器人机构设计与运动学建模和基于关节轨迹与映射关系的康复训练机构结构参数优化两方面对机器人进行深入分析。下肢康复训练机器人机构设计与运动学建模方面,通过构型分析,设计了一种多连杆结构。建立康复训练床体的上升、翻转机构的运动学动力学模型,分析了床体的运动关系和承载能力。还建立了多连杆下肢康复训练器的运动学模型,分析得到多连杆下肢康复训练器的左右髋、膝关节角度。下肢多连杆康复训练器结构参数优化方面,分析了结构参数对关节轨迹与映射关系的影响,建立了基于关节轨迹与映射关系复现性的机构评价指标研究,最后对机器人的结构参数进行了优化分析,确定了一组最优的结构参数。建立了多连杆下肢康复训练器的动力学模型,分析了训练机构所需要的关节转矩,为同步带轮、同步带选型,电机和直角减速器的选型提供依据。最后,本文建立了实验系统,对机器人样机的系统性能进行测试,包括床体的上升高度范围,床体的翻转角度范围,多连杆下肢康复训练器的关节角度,这些指标进行了实验测定。实验证明,所设计的机器人是可行的,满足最初的设计指标和实际康复训练需求。本文研制的床式下肢康复训练机器人,具有重力负载可调的康复训练床体,以及多连杆下肢康复训练器。康复床体由两个线性致动器驱动,使上床体能够水平上升或下降一定高度、能够由水平到竖直任意角度翻转。左右多连杆下肢康复训练机构仅由一个电机驱动,能够模拟人体的正常步态运动。该机器人具有结构简单、控制方便,经济性好等优点。
[Abstract]:At present, with the development of society, the aging trend of population structure becomes more and more serious, and aging becomes a socialized problem. Older people are prone to cardiovascular and nervous system diseases with hemiplegic symptoms and motor disorders of the lower extremities. Early surgical treatment and drug therapy are important, but later rehabilitation training is more important for the recovery of lower extremity motor ability. The research of lower limb rehabilitation training robot is of great significance for saving labor cost and improving the effect of lower limb rehabilitation training. However, there are still some problems in the existing lower limb rehabilitation training robots. Some of the lower limb rehabilitation training robots with simple structure have a single function and limited rehabilitation effect. The control system is complex and lacks economy. In order to realize the purpose of simple structure and convenient control, a kind of bed-type lower limb rehabilitation training robot is developed in this paper. Firstly, aiming at the lower limb rehabilitation training robot, this paper analyzes the existing lower limb rehabilitation training robot at home and abroad, and studies the movement mechanism of human lower limb and the kinematics relationship of lower extremity joint during human walking. Based on the angle data of the lower limb joint and the kinematics relationship of the lower limb joint, the anthropomorphic design of the mechanical structure of the lower limb rehabilitation training robot is proposed. Then, the mechanism design and kinematics modeling of the lower limb rehabilitation training robot and the optimization of the structural parameters of the rehabilitation training mechanism based on the joint trajectory and mapping relationship are analyzed in this paper. In the aspect of mechanism design and kinematics modeling of lower limb rehabilitation training robot, a multi-link structure is designed through configuration analysis. The kinematics and dynamics model of the rising and flipping mechanism of the bed body was established, and the motion relationship and bearing capacity of the bed body were analyzed. The kinematic model of multi-link lower limb rehabilitation trainer was established, and the angle of left and right hip and knee joint of multi-link lower limb rehabilitation trainer was obtained. In the aspect of structural parameter optimization of lower limb multi-link rehabilitation trainer, the influence of structural parameters on joint trajectory and mapping relationship is analyzed, and a mechanism evaluation index based on joint trajectory and mapping relationship is established. Finally, the structural parameters of the robot are optimized and a set of optimal structural parameters are determined. The dynamic model of multi-link lower limb rehabilitation training device is established, and the joint torque required by the training institution is analyzed, which provides the basis for the selection of synchronous belt wheel, synchronous belt type, motor and right-angle reducer. Finally, an experimental system is established to test the system performance of the robot prototype, including the rising height range of the bed body, the turning angle range of the bed body, and the joint angle of the multi-link lower limb rehabilitation trainer. These indexes were measured experimentally. Experimental results show that the designed robot is feasible and meets the initial design targets and actual rehabilitation training needs. In this paper, a bed type lower limb rehabilitation training robot with adjustable gravity load and multi-link lower limb rehabilitation training machine is developed. The recovery bed body is driven by two linear actuators, which enables the upper bed body to rise or decrease a certain height horizontally and flip from horizontal to vertical at any angle. The rehabilitation training institution of left and right multi-link lower limbs is only driven by one motor, which can simulate the normal gait movement of human body. The robot has the advantages of simple structure, convenient control and good economy.
【学位授予单位】：苏州大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496;TP242

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