Design And Experimental Research On Multifuntional Lower Limbs Rehabilitative Robot

As people’s living standard and the social civilization degree unceasing enhancement,the voice of caring the elderly and disabled people become more and more loud, demand of rehabilitation training devices from the whole society is also increasing.In china,the number of patients with lower limbs functional disorder is very huge,and the existing manual rehabilitation is inefficient with general curative effect,sothere is a big necessary and realistic significance to develop a new type of lower limb rehabilitation robot with strong adaptability.In the special funds for the development of high-tech industries in Heilongjiang Province, also according to the needs of rehabilitation care from the elderly people, the disabled people and the walking disorder,this article designs a new type of lower limb rehabilitation robot.At the same time,a associated robot performance test platform is designed according to the needs of robot’s performance testing,to ensure that the main design index of the robot can meet the national standard and provide a safe environment for patients.Based on the design index and overall scheme of the robot and platform in this paper,the whole structure is divided into three modules:mobile body module,the sitting function module and the lower limb rehabilitation.The detection platform consist of the bottom bearing platform and the external protection framework.Then completed the overall structure design modeling by CREO2.0 and using ANSYSworkbench solves the static,modal and explicit dynamic problem of correlation structure.On the basis of the structure design of the robot and its detection platform, the overall control scheme of the robot and the detection system of the platform are all put forward.The dynamic mathematical model of the sitting function mechanism and the lower limb rehabilitation mechanism are estabilished by Lagrange method.The kinematics and dynamics modeling and simulation analysis of the robot are carried out by matlab SimMechanics,and the simulation of servo control based on Simulink is accomplished also.A robot prototype and a detection platform are designed through researchs above.Comparison test of performance parameters of mobile car body is complished between the robot and Hubang electric wheelchair by using dSPACE semi physical simulation platform,then using real people complete the robot function verification experiment.The system runs smoothly and the performance parameters are up to the standard,which proves the correctness and feasibility of the theory research,also lay the foundation of the industrialization of the robot products for the future.