Nowadays there are more and more limb disable patient in domestic due to natural disasters, traffic accidents and other accidents, which is also causing rehabilitation training robot emerging in recent years. Limb rehabilitation training robot among rehabilitation training robots is specialized in study of limb disable patients. This kind of robots can help patients to imitate normal walking so that it can achieve recovery of limb.This paper is putting forward a new type of limb rehabilitation training robot against domestic patient specific recovery condition based on study of limb rehabilitation robot and clinical rehabilitation medicine principle. The function of this new type of robot is to provide normal working towards patients and help patients achieve recovery of limb through repeated and cycle training.Firstly, This paper put forward the general plan of limb walking rehabilitation training robot. On above basis, design crank structure which can adjusted the length in order to satisfy requirements of different height and rehabilitation steps. The patients can adjust the dimension and training method according to self requirements.Secondly, based on virtual 3D model set up on Solid Works, through analyzing the kinematics and dynamics of walking mechanism and using ADAMS software for simulation analysis, each components dimensions can be confirmed and the kinematics components can be chosen. All these are prepared for study of sample robot.Thirdly, the control strategy can be confirmed. Arm panel and SCM prepares the software part of sample robot. The active and passive two training modes specific plans are put forward, which is active control mode and passive control mode.At last, do the test and adopt the data from sample robot. The desired trajectory, provided to the limb rehabilitation training robot, is marked and test the load compared to the actual trajectory to verify the security and rationality of this design. |