| At present, the robot technology has become the most important field of which has been researched all over the world. Rehabilitation robot technology is as a part of robot technology which is used to recuperate and exercise the injured body. The virtual reality technology has become more and more popular in the world because of its peculiar visual effect, and the combination between virtual reality technology and control technology for robot has been one of the focuses in the international society, and the fact that working state of robot is revealed in the computer screen for the experts or patients facilitates them on the study and rehabilitation. It is of importance with the development of virtual reality technology.This thesis describes the mechanical structure and operation principle of the horizontal lower limbs rehabilitation robot; Using MATLAB/Simulink toolboxes, we accomplish the SimMechanics dynamics analyses of the robot's main movement and gesture movement .structures.Comparing with the most familiar design methods for virtual reality at present, we choose the reasonable one based on the characteristic of this project. The three-dimensional model for mechanical structure and patient limb are made with Pro/Engineer Wildfire software, and the virtual reality scene is completed with VRML and vrbuild2 toolbox.The model is brought into the working condition of Simulink with interface module of virtual reality toolbox, according to the system moving gestures, we make out control signals, and simulates the model with virtual reality.The operation program for rehabilitation robot is finished with the comparison among the methods for virtual laboratory technology at present. With the system's virtual reality simulation model and the programme based on the technology of Matlab Web Server, applying the Dreamweaver MX technology, we make out the input-output interface, establish the experiment platform and realize the long-distance operation about virtual laboratory successfully. |
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