下肢康复机器人的设计与仿真研究

发布时间：2018-11-22 11:46

【摘要】：由于交通事故、心脑血管疾病、老龄化人口的增多等原因而造成的下肢损伤或瘫痪严重影响了患者的正常行走和生活质量,恢复和提高下肢的运动机能不仅需要手术和药物治疗,科学的、有针对性的康复训练是必不可少的。针对康复训练设计了一种结构简单、使用场合灵活、重量轻便、价格低廉、穿戴舒适的下肢康复机器人。课题主要研究内容如下:通过对人体在正常行走时步态理论的研究,设计了下肢步态训练装置,其杆件长度设计为无级可调式,以供不同身高、不同体态的患者使用,用CREO对步态训练装置进行了三维机械结构设计。用笛卡尔坐标系法对下肢步态训练机构进行了正运动学和逆运动学分析,与其它运动学分析方法相比,笛卡尔坐标系法能得到机构的全部位置解,不会出现奇异点。借助Simulink建立了正、逆运动学仿真模块图,通过仿真可得到任意人体下肢尺寸的腿末端处脚心的轨迹曲线,同时可快速得到按任意预定步态轨迹训练时髋、膝、踝关节在一个运动周期内的曲、伸角度及角速度、角加速度的变化曲线,解决了复杂的计算问题,为机构的仿真提供了新途径。用拉格朗日法对机构进行了动力学分析,得出髋、膝、踝关节的力矩表达式。用Sim Mechanics建立机构的动力学仿真模块图,由仿真迅速得到机器人髋、膝、踝关节的力矩曲线图。对机器人的步态训练机构进行运动空间和灵巧度分析。分别分析了身高和髋、膝、踝关节运动角度对运动空间的影响。依据Jacobian矩阵的条件数指标,用MATLAB编程得到下肢步态训练机构灵巧度的分布规律图,可为结构设计提供参考。
[Abstract]:As a result of traffic accidents, cardio-cerebrovascular diseases, aging population and other reasons caused by lower limb injury or paralysis seriously affected the patient's normal walking and quality of life. Recovery and improvement of lower extremity motor function not only need surgery and drug treatment, scientific, targeted rehabilitation training is essential. For rehabilitation training, a kind of lower limb rehabilitation robot is designed, which is simple in structure, flexible in use, light in weight, low in price and comfortable in wearing. The main contents of the research are as follows: through the study of gait theory of human body during normal walking, a gait training device of lower limb is designed. The length of the lower limb gait is designed to be stepless and adjustable for use by patients with different height and posture. The three-dimensional mechanical structure of gait training device is designed by CREO. The forward kinematics and inverse kinematics of lower limb gait training mechanism are analyzed by Cartesian coordinate system method. Compared with other kinematics analysis methods, Cartesian coordinate system method can obtain all position solutions of the mechanism without singularity. With the help of Simulink, the forward and inverse kinematics simulation module diagram is established. The trajectory curve of the foot center at the end of the leg of any human lower extremity can be obtained by simulation. Meanwhile, the hip and knee can be quickly obtained when training according to any predetermined gait trajectory. The curve of curvature, extension angle, angular velocity and angular acceleration of ankle joint in a motion cycle solves the complex calculation problem and provides a new way for the simulation of mechanism. The dynamic analysis of the mechanism is carried out by Lagrange method, and the expressions of the torque of the hip, knee and ankle joint are obtained. The dynamic simulation module diagram of the mechanism is established by Sim Mechanics, and the torque curves of the hip, knee and ankle joints of the robot are obtained quickly by the simulation. The movement space and dexterity of the gait training organization are analyzed. The effects of height and motion angle of hip, knee and ankle on motion space were analyzed. According to the condition number index of Jacobian matrix, the distribution pattern of dexterity of lower limb gait training institutions is obtained by MATLAB programming, which can be used as a reference for structural design.
【学位授予单位】：华北理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】