Mechanism Design And Prototype Of Walking Aided Robot

With the rapidly improvement of people's lives, there are increasing demand for rehabilitation, especially for rehabilitation training robot. In order to fulfill this demand, a new type of rehabilitation training robot, called aided-walking robot is designed in this thesis. Through simulating normal people's walking behaviors, this robot could not only carry on lower limb rehabilitation training for patients, but also aid their normal walking.The development and application of the research on rehabilitation training robots both at home and abroad are introduced in detail, and the overall mechanism of aided-walking robot are proposed, including wheel-drive mechanism, up-down mechanism and aided walking mechanism. Furthermore, the overall mechanism of the aided-walking robot is designed by Pro/E software, and analyzed with finite element analysis method in Pro/MECHANICA toolbox. Based on detailed analysis of normal walking behaviors, aided walking mechanism is designed using the CAGD function of Invent software. At the same time, modeling, simulation and optimization of the proposed aided-walking mechanism are fulfilled with the toolboxes of MATLAB/simulink. Finally, the mechanism parameters of normal walking behaviors are fixed.The control system of up-down mechanism of aided-walking robot is analyzed in detail. The kinematical analysis of this structure is conducted, acquiring the dynamic model of up-down mechanism. Both dynamic and control simulation of aided-walking robot are finished both in MATLAB/Simulink and in practice. The feasibility of theory analysis is verified by practical experiments. Also, the trajectory control experiment of up-down mechanism model is put into practice. During the process of the experiment, system run stably, with high ability of anti-jamming. Its trajectory performance could fulfill the expected objectives, proving the feasibility of the proposed systems.Finally,the design and manufacturing of prototype.The perofrmance of the prototype indicates that the theory conclusion is correct and the structure design is feasible.With all these foundation,the roller chain harmonic drive will become industrialization later.