下肢外骨骼康复机器人的设计及仿真分析

Design and Simulation Analysis of Lower Limb Exoskeleton Rehabilitation Robot

针对当前下肢运动障碍患者众多而康复师和智能化康复设备短缺的状况,设计了一种下肢外骨骼康复机器人。该机器人主要由外骨骼机械腿和模块化关节组成,模块化关节有利于缩短产品的研发周期和外骨骼关节的维修与替换。利用D-H参数法建立下肢外骨骼机器人运动学与动力学模型,并结合Creo三维软件动态仿真模块进行仿真,得出了各关节的力矩,为下肢外骨骼机器人关节驱动电机的选型以及控制系统的设计提供了理论基础。

In view of the large number of patients with lower extremity paralysis and the shortage of rehabilitation therapists and intelligent rehabilitation equipment,a lower limb exoskeleton rehabilitation robot was designed.The robot is mainly composed of exoskeleton mechanical legs and modular joints.The modular joints are helpful to shorten the product development cycle and convenient to repair and replace of exoskeleton joints.The kinematics and dynamics model of the lower limb exoskeleton robot were established by D-H parameter method,the joint torques of the lower limb exoskeleton rehabilitation robot were simulated by using the Creo 3D software dynamic simulation module,and the torque of each joint was obtained.It provides a theoretical basis for the selection of the joint drive motor and the product research and development.