摘要
为推动康复机器人发展,提高下肢康复训练水平,设计了一种新型下肢训练康复机器人的机械结构.设计采用新型全向移动平台机构,实现了平面内任意方向的运动,并且可以在移动过程中实现任意半径转弯.从运动学角度分析了轮速与机器人轨迹间的数学关系,并采用虚拟样机技术结合Pro/E与Adams联合建模仿真的方法,建立了精确可靠的虚拟样机模型.实验仿真结果表明,设计的虚拟样机模型与数学模型具有一致性,验证了该下肢康复机器人机械结构的实际可行性,为物理样机的建立提供了可靠依据.
To promote the development of rehabilitative robot and improve the level of lower limbs rehabilitative training,a new mechanical structure for lower limbs rehabilitative training robot was designed.The robot with a new type of omni-directional mobile platform could move in any direction and turn in any radius.The mathematical relationship between wheel speed and robot trajectory was analyzed from the kinetic view,and an accurate and reliable virtual prototype model was established through combining the virt...
出处
《沈阳工业大学学报》
EI
CAS
2010年第5期514-519,共6页
Journal of Shenyang University of Technology
基金
教育部"春晖"计划科研合作项目(Z2005-2-11011)
辽宁省高等学校创新团队项目(LT2010081)
关键词
下肢康复机器人
康复训练
全向轮
虚拟样机技术
动力学仿真
重心轨迹
期望轨迹
机械结构设计
Adams模型
Pro/E建模
lower limbs rehabilitative robot
rehabilitative training
omni-directional wheel
virtual prototype technology
kinetic simulation
barycentric trajectory
expected trajectory
mechanical structure design
Adams model
Pro/E modeling
