The Trajectory Planning And Structure Design And Analysis Of The New Lower Limb Rehabilitation Robot

Supported by the National Natural Science Foundation, focusing on the demandfor domestic rehabilitation market, this paper studied studied demand target, gaittrajectory, structure and motion analysis etc. The main contents and results aresummarized as follows:The gait trajectory of normal people is an important basis for designing of thelower limbs rehabilitative robot. After comparing the four method of obtainingmotion trajectory, the optical motion capture system was adopted. According tothe demand of various simulation movement of the lower limbs rehabilitativerobot, the experiment of using the Motion Analysis motion capture system tocollect gait trajectory was designed and implemented, the corresponding gaittrajectory information were obtained.Several important gait parameters were selected. With the help of ADAMS andLifeMOD, the simulation analysis was completed and the curves of gait indexesare obtained. The curves of multiple gait cycles were integrated into the curvesfor a cycle by using the average method. The gait features of the experimentalresults were obtained through observation and calculation, through comparingthe gait characteristics and previous research, the validation of the gait trajectoryinformation was confirmed. The gait experimental data were processed in theMATLAB, and the design basis of the lower limb rehabilitation robot and thedata for simulation were obtained.The structure types of the lower limbs rehabilitative robot at home and abroadwere summarized. After the comparing and analyzing of different types of robotstructure, the Cartesian coordinate robot structure scheme was adopted in thispaper. The schematic diagram was drawn, and the preliminary exercise programverification was completed. According to the motion data analysis obtained fromthe gait experimental results, the design and selection of key parts, the motor andball screw, was completed, and the parts modeling design of the lower limbsrehabilitative robot was finished in SolidWorks. The lower limbs rehabilitative robot parts were orderly assembled into the model.Analyzing the characteristics of different simulation methods, the Motionanalysis method was selected. The suppositional motors were placed on the axisends of the ball screws in two directions, the gait experiment results driving datawere imported, and the simulation was carried out. Comparing the motion curveof the model simulation and the curves obtained by analyzing experimental data,the result was that they were the same. This verified the rationality of the model,which laid a foundation for the subsequent optimization and the further study.