下肢康复机器人的静力学分析及结构参数设计

Statics Analysis and Structure Parameter Design of the Lower Limb Rehabilitation Robot

下肢康复机器人是具有自动化功能的康复治疗设备,患者在科学合理的康复训练条件下,可使其下肢的运动功能得到良好的恢复。为了增大下肢康复机器人的康复训练工作空间和承载能力,对康复机器人的静力学分析尤为重要。提出了一种以3-UPS并联机构作为机构原型的下肢康复机器人,基于虚功原理,建立了下肢康复机器人驱动力和输出力的静力学方程,定义了静力学性能评价指标并绘制了评价指标分布图,分析了结构参数与静力评价指标之间的关系,确定结构参数对静力学性能的影响情况,并基于结构参数设计了下肢康复机器人。分析结果为下肢康复机器人的进一步分析研究奠定了基础。

The lower limb rehabilitation robot is an automated functional rehabilitation equipment,with a scientific and reasonable rehabilitation conditions,the patients can make their lower extremity motor function get good recovery. In order to improve the rehabilitation training work space of the lower limb rehabilitation robot,increases the bearing capacity,the statics analysis of rehabilitation robot is very important. A kind of lower limbs rehabilitative robot with 3- UPS parallel mechanism as the mechanism prototype is puts forward,the statics equations of the lower limb rehabilitation robot driving force and output force are established based on the virtual work principle,the static performance evaluation index is defined and the evaluation index distribution map is drawn. The relationship between the structure parameters and the statics performance evaluation indexes is analyzed,the influence of structure parameters on the statics performance is obtained. And the lower limb rehabilitation robot is designed based on the structure parameters. The analysis results lay a foundation for further analysis and research of the lower limbs rehabilitative robot.