摘要
随着机器人技术的发展以及人体运动参数化描述的进步,出现了一种新型机器人———康复训练机器人。而下肢康复训练机器人可以模拟正常人的行走位姿,带动下肢有运动障碍的病人进行康复训练。文中采用曲柄摇杆机构来实现人的跨步过程,分析了连杆上支点的运动轨迹;利用曲柄摇杆机构中增加的连杆和滑轨来实现脚踝的运动,分析了踝关节的运动相位,且与步态运动相协调;通过Matlab和ADAMS的运动仿真优化该机构的设计,并通过实验验证优化结果的合理性,整体简化了下肢康复训练机器人结构,降低成本。
Along with the robot technical development and the parameters description of human body sport progress, Reha robot is a new kind of robot which has been developed in recent years. That lower limbs rehabilitative robot is one kind of the reha robot special quickly development, it can simulate the motion of normal human＇ s walking gesture and give the patients healing training which will help them to recover from illness. The writer adoption crank joy- stick organization to carry out the person＇s stride process, analyze to connect the pole up the sport track of the fulcrum; Make use of to connect the pole sport and slippery tracks sport in the top organization to carry out the sport of the an- lde, analyzed sport position of the ankle joint; Make use of result of kinematics simulation Maflab and ADAMS can verify the rationality that organization design, Thus simplified Structure, Decline low cost.
出处
《机械设计与研究》
CSCD
北大核心
2007年第6期46-50,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(60575053)
国家博士点基金资助项目(20060217024)
