Construction And Kinematics Analysis Of Exoskeletal Robots For Lower Limbs Rehabilitation

Rehabilitation robot is a combination of industrial robot and medical robot. 1980s is the initial stage of rehabilitation robot, the United States, Britain and Canada are leading the way in the filed of rehabilitation robot. With the development of economy, the demand for rehabilitation robot becomes more and more urgent, but, in our country, the research of rehabilitation robot is still in its infancy now, many technical areas need to explore. In this context, the subject was put forward, namely, exoskeletal lower extremity rehabilitation robot configuration and Kinematics.In this paper, associated research, including rehabilitation training methods, simulation of human gait, mechanism design, gait coordination, are performed. To be specific, they can be described as follows:(1) Through the study of anatomical structure of lower limbs, kinematics mechanism of skeleton muscles, the analysis of gait, planning out design proposal of exoskeleton robot for lower limb rehabilitation and provide the necessary basis for structure design, walking planning, mathematical model and so on.(2) Structure design, selecting suitable driver, and designing the Control Scheme are carrying out. Giving an outline of the design of hip joint and knee joint, introducing some concerns appearing in the process. UG design software is used to draw three-dimensional model of some important components and parts, two-dimensional floor map and assembly drawing of exoskeleton robot for lower limb rehabilitation.(3) The law of D-H is used to establish the kinematics model for the robot, and then the unilateral mechanism simulation model of lower limb rehabilitation robot, which is built by Simulink module of Matlab, will be used to test and verify the feasibility and correctness of the kinematics model.(4) Lagrangian method is used to set up unilateral mechanism kinetic equation of the robot, and the force, position, velocity and acceleration are connected to build dynamic model and simulation, after that Adams, a kind of software for finite elements analysis, is used to dynamic simulation and analysis of the model, and then the changeful curves of force, angular velocity and angular acceleration and time are obtained, those curves will provide reference for later organization optimized design, driver model and can be used to test and verify the rationality of the mechanism design.