Research On Mechanism Of Rigid-flexible Coupled Lower Limb Flexion Rehabilitation Robot

With people's increasing demand for rehabilitation robot products, extensive work has been done in the area of rehabilitation robots by domestic and foreign researchers, and made a certain research achievements. A new parallel mechanism with wire-driven parallel robots is a typical product appeared in the 1980s. Unlike traditional link, which is largely used rigid body,such mechanism using a flexible rope as transmission have great advantage. Related products have been made rapidly. A kind of lower limbs flexion rehabilitation robot have been researched in this paper and this have great influence for the development of rehabilitation robotics.In this paper, we first briefly introduced the research status on rope traction robot all over the world, and related concepts were referred. A new rigid-flexible coupled lower limb flexion rehabilitation robot using rigid-flexible coupled was invented based on the new method,and optimal positions were taken considering the character of human's workspace of lower limp. Taking the principle of optimal robot static stiffness into account, the various laws of the human lower limb flexion and extension movement were analyzed,and a system relevant parameter data was obtained. In addition,kinematics and dynamics of body were analyzed. It is verified by the simulation that model of the rigid-branched motion planning are correct and feasible, which will lay the foundation of the dynamic analysis and model simulation.Dynamic model was built considering the characteristics of human bone structure and the law of the body suffered mechanical load. Inverse dynamics simulation was done to analysis the force in various ropes suffered in the course of the movement, which can be a basis to select control motor for rehabilitation robot. Related components related to lower limb flexion and extension of the rigid hybrid rehabilitation robot were selected based on the analysis of the rehabilitation robot body. Prototype robot was conducted, and related tested was taken, laying the foundation of improving the rehabilitation robot system.