基于外骨骼的可穿戴式下肢康复机器人结构设计与仿真

发布时间：2017-12-30 21:30

本文关键词：基于外骨骼的可穿戴式下肢康复机器人结构设计与仿真　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：康复机器人作为康复工程的产物,能够通过机器引导肢体做各种指定的重复性康复训练,辅助患肢恢复其运动机能,近年来其得到了迅速发展。但现有研究的重点多集中于腿部机构的设计,对腰部机构的设计研究相对较少。本文针对现有康复机器人腰部机构存在的结构简单,不能模拟人体腰部运动的不足,以人机工程学为基础,对下肢康复机器人的腰部机构和腿部机构作一体化设计,满足下肢瘫痪患者康复训练完整性和舒适性的要求。首先,基于人体解剖学研究人体下肢骨骼及其骨连结的特点,确定了下肢康复机器人腰部机构和腿部机构各关节处的自由度分配,并对人体下肢正常步态进行测量统计分析,得出了人体下肢正常步行时腰部的运动曲线方程和腿部各关节的运动曲线,为下肢康复机器人的结构设计提供理论分析的基础。针对下肢瘫痪患者不同康复阶段训练内容和要求不同的特点进行了研究,根据不同康复阶段患者不同程度的训练要求,建立了下肢康复机器人的单自由度、组合动作和步行3种康复训练模式,将下肢康复机器人的康复训练功能渗透到整个康复治疗过程中。在建立的下肢康复机器人3种康复训练模式基础上,提出了下肢康复机器人的腰部机构和腿部机构作拟人化一体化设计方案,由腰部机构和腿部机构两部分组成,具有一定的通用性,可以适用不同人群。根据设计的下肢康复机器人的方案,确定下肢康复机器人系统结构材料为2A12硬铝合金,采用伺服电机驱动方式,选择24V锂离子电源和光学式增量型旋转编码器、限位开关及拉线编码器等传感器。为了进一步确定下肢康复机器人腰部机构和腿部机构参数,建立了腰部机构和腿部机构运动模型,应用ADAMS软件建立了下肢康复机器人腰部机构和腿部机构的虚拟样机,进行了系统分析。仿真试验结果表明,所设计下肢康复机器人的腰部机构能够拟合人体下肢步行时腰部的运动特点,腿部机构能够实现单自由度康复训练、多自由度组合动作康复训练和步行康复训练。完成设计了包括腰部机构和腿部机构的下肢康复机器人,仿真试验验证了所设计机构可以拟合人体下肢运动带动患者作康复训练,能够满足康复训练的目标要求。
[Abstract]:Rehabilitation robot, as the product of rehabilitation engineering, can guide limbs to perform various kinds of specific repetitive rehabilitation training, and assist the affected limb to restore its motor function. In recent years, it has been developed rapidly. However, most of the existing research focuses on the design of leg mechanism, but the design of waist mechanism is relatively few. This paper aims at the simple structure of the existing rehabilitation robot waist mechanism. Based on ergonomics, the waist mechanism and leg mechanism of lower limb rehabilitation robot can not be simulated. To meet the lower limb paralysis patients rehabilitation training integrity and comfort requirements. First, based on human anatomy to study the characteristics of human lower limb bones and bone connections. The degree of freedom distribution between the waist mechanism and the leg joint of the lower limb rehabilitation robot is determined, and the normal gait of the lower extremity is measured and analyzed statistically. The equation of the waist motion curve and the motion curve of each joint of the leg are obtained when the human lower extremity is walking normally. For the lower limb rehabilitation robot structure design to provide a theoretical basis for the lower limb paralysis patients in different rehabilitation stages of training content and requirements for different characteristics of the study. According to different training requirements of patients in different rehabilitation stages, three kinds of rehabilitation training modes of lower limb rehabilitation robot, including single degree of freedom, combined movement and walking, were established. The rehabilitation training function of the lower extremity rehabilitation robot is permeated into the whole rehabilitation treatment process. On the basis of the three rehabilitation training modes of the lower extremity rehabilitation robot established. A humanoid integrated design scheme of waist mechanism and leg mechanism of lower limb rehabilitation robot is put forward, which is composed of waist mechanism and leg mechanism, and has certain generality. According to the design of the lower limb rehabilitation robot, the structure material of the lower limb rehabilitation robot system is determined as 2A12 hard aluminum alloy, and the servo motor drive mode is adopted. Select 24V lithium ion power supply, optical incremental rotary encoder, limit switch and pull wire encoder and other sensors. In order to further determine the lower limb rehabilitation robot waist mechanism and leg mechanism parameters. The motion model of waist mechanism and leg mechanism is established, and the virtual prototype of waist mechanism and leg mechanism of lower limb rehabilitation robot is established by using ADAMS software. The system analysis is carried out. The simulation results show that. The waist mechanism of the designed lower limb rehabilitation robot can fit the characteristics of the waist movement of the human lower extremity walking, and the leg mechanism can realize the single degree of freedom rehabilitation training. Multi-degree-of-freedom combined action rehabilitation training and walking rehabilitation training. The lower limb rehabilitation robot including waist mechanism and leg mechanism is designed. The simulation results show that the designed mechanism can fit the rehabilitation training of patients driven by human lower limb movement and can meet the requirements of rehabilitation training.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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