卧式下肢康复机器人运动学分析及仿真

Kinematics Analysis and Simulation of Horizontal Lower Limbs Rehabilitative Robot

针对人类由于意外事故、疾病和机体老化等因素产生的功能障碍或残疾,研制了一种基于并联机构的新型卧式下肢康复机器人。同时采用连杆机构模拟人体下肢,把人体下肢和机器人作为一个整体,利用机构牵引人体下肢实现对髋、膝、踝关节的康复训练。并利用闭环矢量法对卧式下肢康复机器人的运动学正、逆过程进行了分析,推导出其运动学方程。根据运动学分析制定了一种康复训练策略,并进行了仿真研究。仿真结果表明运动学分析结果的正确性和制定康复训练策略的可行性。

A new robot model for horizontal lower limber rehabilitative training was developed based on parallel mechanism,aiming at functional disorder and disability caused by incidents,disease and organism ageing.Taking the link mechanism and human lower limber as a whole,the link mechanism was used to imitate lower limber and pull it to realize recover training for pelvis,knee and ankle.The direct and inverse kinematics of the robot was analyzed using the closed-loop vector method and the kinematics function was deduced.The result shows the kinematics analysis is correct and making the control strategy is available.