The Research Of Leg Rehabilitation Robots On Motion Unit Based On Parallel Mechanism

With the development ofthetechnology, rehabilitation robot’s application prospect is wideas an important branch of the field of rehabilitation engineering. The researches at home andabroad showthat, ankle rehabilitation robot’s research is more in lower limb rehabilitation robot.However, the training of knee and hip joint is relatively lack. A kind of leg rehabilitation robotis designed which aims at the characteristics of leg movement dysfunction’s rehabilitationtraining.According to the theoryof rehabilitation medicine, the motionunit’s mechanism prototypeof the leg rehabilitation robots is determined. And the mechanism is on the basis of severalrehabilitation facility prototype’s comprehensive analysis.The leg rehabilitation robots’s motionunit which is based on six degree freedom of parallel mechanism2-URS&UPS is raised and itis composed with UPS chain and2-URS chain. With the characteristics of compact structureand good symmetry, spherical5-R institutions is adopt which replaces traditional hooke hinge.The subject uses vector method to analyse the inverse solutions, and then utilizesMATLAB programming to solve the inverse position. The workspace of the leg rehabilitationrobot’s motion unit is analysed, and its three-dimensional map is obtained with the boundarysearch method. At last, the article analyses the size of working space which is influenced bystructure parameters, and uses MATLABto drawthe influence curves.Each component’s statics is analysised by the remove rod method. The subject usesMATLAB programto draw the force and torque curves ofURS chain’s motion pair. Accordingto the characteristics of human lower limb and motion range of its joint, the trajectory planningis taked by synthesizing demand of patients’ recovery in the early stage. The3D model of legrehabilitation robot’s motion unit is established by Solidworks. Through its analysis ofkinematics simulation, thetrajectorydiagram ofrehabilitationtraining is drawed.The research of leg rehabilitation robot’s movement unit is obtained which is based on2-URS&UPS parallel mechanism. It has established the theoretical basis for the research anddevelopment of lower limb rehabilitation robot. The recovery requirements of patients havebeen satisfied onthe application of mechanism in the differentstage.