| The Lower Limb Power Assisted Robot is a kind of robot that helps the elderly and the infirm to walk independently. The research of the Lower Limb Power Assisted Robot will contribute a lot to the treatment and rehabilitation from dysfunction of the lower limps, sport and nerve injuries caused by various kinds of diseases and traffic accidents, which also provides the practical function to lighten the burden of the society.Firstly, the present conditions of the domestic and foreign research on the Lower Power Assisted Robot are introduced in the thesis, and the overall design of the robot is presented based on the detailed analysis of the technical difficulties in the Lower Limb Power Assisted Robot. The design idea of personification is employed and the structure of human's lower limps and their sport features are regarded considerably in designing the structure of the robot, and the assisted robot with 8-DOF is designed. Robot's hip and knees are driven through the screw-nut bodies separately by the electric motor. According to the structural characteristics of human's knee joints and by adopting the design plan of optimization, four-bar knee joint is designed. The control system uses the decentralized ways of both the upper and the lower levels.The robot is analyzed by the method of D-H from the perspective of kinematics, and the kinematical equation of the robot is established. Meanwhile, SimMechanics simulation model of robot single leg is set up to test the kinematical equation. Based on the regularity of human's gait.By using cubic spline interpolation method, the changes pattern of the robot's hip and knee joint angles is projected.Single leg semi-physical experimental system is founded based on dSPACE, position closed-loop control is employed in the robot's legs. The experiments such as load step, sine response and walking with a load are carried on the robot, which proves that the robot achieves the gait regularity and has a strong load capacity. |
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