卧式下肢康复机器人机构设计及优化

发布时间：2018-08-07 13:28

【摘要】：步行是人类生存和生活的一项必要动作,改善脑卒中患者的步态,使其重新获得行走能力是康复的一个重要目标。基于运动再学习理论,针对下肢瘫痪患者早期介入精准步态康复训练的需求,设计了一种新型七杆混联卧式下肢康复机器人。本论文在机器人的机构方案设计、尺寸优化和机器人步态规划方面进行了深入研究。首先,针对整个康复期的步态训练及康复早期的髋关节单关节训练的要求,设计了步态运动规律探究实验,获得了正常步态数据,并提出了一种新型两自由度七杆混联卧式下肢康复机器人设计方案。该机器人以4R-P型五杆机构为主要执行机构,在其连杆上串联一平面2R机构,构成混联闭链机构,对该机构的曲柄单驱动可实现步态训练,对曲柄和滑块进行混合驱动可实现髋关节训练。其次,通过运动学分析,验证所设计方案的可行性,并得到结论:足部驱动式下肢康复机器人若复现下肢关节的步态运动规律,则要求踝关节点的位移及对应的速度均需与正常步态的数据一致;基于平面2R串联机构的工作空间及四杆机构的尺度综合,分析所设计机构的尺度综合约束条件;以轨迹误差值最小为优化目标,提出基于遗传-拟牛顿混合算法的四杆机构优化方法,优化得到机器人执行机构尺寸。最后,针对机器人步态规划关键技术,探求了不同训练模式下的电机运动规律;通过人机模型分析,得到下肢关节运动曲线;分析关节运动数据,结果表明:所设计的机器人能够实现髋关节的平稳训练和精准复现人体步态规律的训练,满足设计要求。
[Abstract]:Walking is a necessary action for human survival and life. It is an important goal of rehabilitation to improve the gait of stroke patients and reacquire their walking ability. Based on the theory of motor relearning, a new seven-bar hybrid horizontal lower limb rehabilitation robot was designed to meet the needs of early intervention precise gait rehabilitation training for patients with lower extremity paralysis. In this paper, the mechanism design, dimension optimization and robot gait planning are studied. First of all, according to the requirements of gait training during the whole rehabilitation period and the one-joint training of hip joint in the early stage of rehabilitation, the research experiment of gait motion law is designed, and the normal gait data are obtained. A novel two-DOF 7-bar hybrid horizontal lower limb rehabilitation robot is proposed. In this robot, the 4R-P five-bar mechanism is used as the main actuator, and a plane 2R mechanism is connected on the connecting rod to form a hybrid closed-chain mechanism. The single drive of the crank of the mechanism can realize gait training. The training of hip joint can be realized by mixed driving of crank and slider. Secondly, through kinematics analysis, the feasibility of the designed scheme is verified, and the conclusion is drawn: if the foot driven lower limb rehabilitation robot reappears the gait motion law of the lower extremity joint, It is required that the displacement and velocity of ankle joint should be consistent with the data of normal gait, based on the workspace of planar 2R series mechanism and the scale synthesis of four-bar mechanism, the constraint condition of scale synthesis of the designed mechanism is analyzed. With the minimum trajectory error as the optimization objective, an optimization method of four-bar mechanism based on genetic and quasi-Newton hybrid algorithm is proposed to optimize the size of the robot actuator. Finally, aiming at the key technology of robot gait planning, the motor motion law under different training modes is explored; the motion curve of lower extremity joint is obtained by man-machine model analysis; the joint motion data are analyzed. The results show that the designed robot can realize the steady training of hip joint and the training of accurate reappearance of human gait law, which can meet the design requirements.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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