空间四自由度串并混联下肢康复机器人设计与分析

发布时间：2018-01-23 01:54

本文关键词： 下肢康复机器人串并混联机器人康复训练运动学 ADAMS仿真　出处：《机械工程学报》2017年13期 　论文类型：期刊论文

【摘要】：脑卒中和其他原因导致下肢运动障碍患者数量增多,科学的康复训练是降低致残率的有效手段,而康复医师严重不足是当前的主要矛盾,改善和提高上述患者的生活质量既是患者的需求,也是亟需解决的社会问题。针对下肢运动障碍患者在不同康复阶段的训练需求,提出一种串并混联结构的下肢康复机器人,该机器人包括两个(UPS-UPU-U)RR结构的4DOF机械腿、连接架和座椅,患者可坐、躺和站三种姿势进行康复训练。建立该机器人的三维模型,并对其具体结构进行详细介绍,基于螺旋理论对该机构自由度进行分析,建立矢量约束方程对其运动学正反解进行分析,结合ADAMS软件,仿真验证了对该机构自由度和运动学理论分析的结果。该研究成果为今后样机的研制奠定了理论基础。
[Abstract]:Stroke and other reasons lead to an increase in the number of patients with lower limb motor disorders, scientific rehabilitation training is an effective means to reduce the disability rate, and the serious shortage of rehabilitation doctors is the main contradiction at present. Improving and improving the quality of life of these patients is not only the needs of patients, but also a social problem that needs to be solved. Aiming at the training needs of patients with lower extremity dyskinesia in different rehabilitation stages. In this paper, a series of hybrid lower limb rehabilitation robot is proposed. The robot consists of two 4DOF mechanical legs with UPS-UPU-URR structure, connecting frame and seat, and the patient can sit. The 3D model of the robot is established, and its specific structure is introduced in detail. The degree of freedom of the mechanism is analyzed based on the helical theory. The vector constraint equation is established to analyze the forward and negative kinematics solutions, and the software ADAMS is used to analyze the positive and negative kinematics. The results of the theoretical analysis of the degree of freedom and kinematics of the mechanism are verified by the simulation, which lays a theoretical foundation for the development of the prototype in the future.
【作者单位】：燕山大学机械工程学院;中国科学院深圳先进技术研究院;
【基金】：教育部博士点基金(20131333110006) 对发展中国家科技援助(KY201501009)资助项目
【分类号】：TP242
【正文快照】： 0前言1目前我国约有700万脑卒中患者,其中约70%~80%的患者需要接受康复治疗[1],脑卒中康复是降低致残率的关键环节[2]。脑卒中的三级康复可使患者回复日常活动能力[3](Activities of daily living,ADL),最新统计我国专业康复的技术人员不足4万人,其中40%是康复医师,35%是康复

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