柔性下肢康复机器人本体设计与分析

Body design and analysis of flexible lower-limb rehabilitation robot

针对目前下肢康复机器人结构仿生性及驱动柔顺性不足的问题,提出一种柔性下肢康复机器人本体结构。基于人体步态及身姿变化分析,设计了可适应于不同体型患者的可调悬吊减重结构,利用ANSYS软件对相应结构进行了有限元分析并验证了其可靠性。基于仿生学原理,设计了基于Hill三元素模型的仿肌肉驱动装置,建立了仿肌肉驱动装置模型,利用ADAMS软件对其进行仿真并验证了结构的可行性。分析结果显示,该柔性下肢康复机器人本体结构相比同类机器人结构具有更好的安全性、仿生性及柔顺性,对柔性下肢康复机器人的设计具有一定的参考意义。

Since the current lower-limb rehabilitation robot suffers from insufficient structural bionics and driving compliance,in this article,a body structure of a flexible lower-limb rehabilitation robot is proposed.Based on the analysis on human gait and posture changes,an adjustable suspension weight-reducing structure that can be adapted to patients of different body types is worked out;the ANSYS software is used for the finite-element analysis on the related structures,and then its reliability is verified.Based on the principle of bionics,a muscle-like driven device is proposed based on the Hill three-element model,and its model is set up.This model is simulated by means of the ADAMS software and it’s verified that this structure is feasible.The analytical results show that compared with other similar robot structures,the flexible lower-limb rehabilitation robot has better safety,bionicity and flexibility in terms of body structure.It provides reference for design of flexible lower-limb rehabilitation robots.