腿部康复装置传动设计与仿真分析

Transmission Design and Simulation Analysis of Lower Exoskeleton Rehabilitation Device

为解决患者久卧病床不能下地行走及老年人腿部康复训练等问题,对油压式腿部康复装置进行设计,并提出两种用于实现腿部康复训练的传动方案。通过对曲柄滑块机构和摇杆滑块机构主要构件进行运动分析,确定主要技术参数,同时对其构件的位移、速度和加速度对比分析,确定摇杆滑块机构为该康复装备的传动机构。最后运用Solid Works建立该腿部康复装置三维装配模型,并对其进行仿真分析。结果表明,所设计的油压式腿部康复装置能实现预期运动目的并满足康复训练要求。

The hydraulic lower exoskeleton rehabilitation device is proposed to solve the problem of patient lying on the bed can＇t walk and the aged leg rehabilitation training. Two kinds of transmission schemes are put forward as its main transmission mechanism,which are crank- slider mechanism and slider- rocker mechanism. With the main construction member motion analysis of the crank- slider mechanism and slider- rocker mechanism,the main technical parameters are obtained. And the displacement,velocity and acceleration of the components are acquired and compared simultaneously. Then the slider- rocker mechanism is determined as the main transmission mechanism of the hydraulic lower exoskeleton rehabilitation device. Finally,the three dimensional assembly model of the legs rehabilitation device is established with Solid Works,and the simulation and mechanics analysis are conducted. The results show that the proposed hydraulic legs rehabilitation device can achieve the expected movement purpose and meet the requirements of rehabilitation training.