辅助步行训练机器人机构尺度综合设计
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摘要
为帮助下肢功能障碍患者完成步行康复训练,设计了一种足底驱动式辅助步行训练的机器人机构。根据正常步行时下肢踝、膝关节姿态变化规律,对踝关节姿态约束机构和辅助屈膝机构进行了尺度综合优化,确定了机构的最佳尺寸参数。依据足底转角规律和范围综合,确定了踝关节姿态约束机构的曲线约束导轨ζ的轨迹,分析约束导轨倾斜角度和踏板长度对踝关节转角范围的影响;设计了膝关节辅助屈膝机构帮助训练时患肢实现膝关节屈曲动作,分析并确定机构尺度对辅助屈膝动作的影响。并利用Matlab工具箱建立机构的仿真模型,通过仿真分析验证机构尺度综合优化的合理性和机构设计的可行性。
In order to help patients with lower extremity dysfunction complete walking rehabilitation training,a plantar-driven walking aided training robot mechanism is designed. According to the change laws of ankle and knee joint posture during normal walking,the dimensional synthesis optimization of ankle joint attitude restraining mechanism and aided knee flexion mechanism is carried out to determine the optimal size parameters of the mechanism. According to the rotation laws and range of the plantar,the trajectory of restraint guide rail ζof ankle joint attitude restraining mechanism is comprehensively determined,and the effects of confined guide way inclination angle and pedal length on the angle range of ankle joint are analyzed. The aided knee flexion mechanism is designed to help the affected limbs flexibly in the knee during walking training,and the influence of mechanism dimension on the aided knee flexion is analyzed and determined. The simulation model of the mechanism is established by using the Matlab toolbox,and the rationality of dimensional synthesis optimization and the feasibility of robot mechanism design is verified by the results of simulation analysis.
In order to help patients with lower extremity dysfunction complete walking rehabilitation training,a plantar-driven walking aided training robot mechanism is designed. According to the change laws of ankle and knee joint posture during normal walking,the dimensional synthesis optimization of ankle joint attitude restraining mechanism and aided knee flexion mechanism is carried out to determine the optimal size parameters of the mechanism. According to the rotation laws and range of the plantar,the trajectory of restraint guide rail ζof ankle joint attitude restraining mechanism is comprehensively determined,and the effects of confined guide way inclination angle and pedal length on the angle range of ankle joint are analyzed. The aided knee flexion mechanism is designed to help the affected limbs flexibly in the knee during walking training,and the influence of mechanism dimension on the aided knee flexion is analyzed and determined. The simulation model of the mechanism is established by using the Matlab toolbox,and the rationality of dimensional synthesis optimization and the feasibility of robot mechanism design is verified by the results of simulation analysis.
引文
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[10]边辉,李二伟,黄志影,等.一种减重外骨骼机构设计及动力学分析[J].机械设计与制造,2017(12):251-254.
[11]秦涛,张立勋.考虑跖趾关节运动的踏板式步行康复机器人运动规划[J].机器人,2014,36(3):330-336.
[2]林海丹,张韬,陈青,等.康复机器人辅助步行训练对不完全性脊髓损伤患者步行能力的影响[J].自动化学报,2016,42(12):1832-1838.
[3]赵雅宁,郝正玮,李建民,等.下肢康复训练机器人对缺血性脑卒中偏瘫患者平衡及步行功能的影响[J].中国康复医学杂志,2012,27(11):1015-1020.
[4]李剑,张秀峰,潘国新.减重步行康复训练机器人的设计及其临床应用[J].医用生物力学,2012,27(6):681-686.
[5]陈殿生,宁萌,阮子喆,等.电动往复式步态矫形器机构优化设计[J].机械工程学报,2015,51(21):33-41.
[6]项忠霞,邵一鑫,李力力.单自由度可调下肢康复机器人机构优化设计[J].天津大学学报(自然科学与工程技术版),2017,50(8):877-884.
[7]崔冰艳,陈丽文,王志军,等.下肢康复机器人的静力学分析及结构参数设计[J].机械传动,2015,39(8):63-67.
[8]范泽峰,李娟,李伟达,等.多连杆式下肢康复训练机器人结构优化与仿真[J].机械传动,2015,39(11):67-71.
[9]刘坤,赵建琛,李超,等.基于Hyperworks的下肢康复训练系统机械结构设计与优化[J].吉林大学学报(医学版),2015,45(5):1474-1480.
[10]边辉,李二伟,黄志影,等.一种减重外骨骼机构设计及动力学分析[J].机械设计与制造,2017(12):251-254.
[11]秦涛,张立勋.考虑跖趾关节运动的踏板式步行康复机器人运动规划[J].机器人,2014,36(3):330-336.