Design And Analysis Of The Six-dof Multi-pose Lower Limb Rehabilitation Robot

In recent years,rehabilitation robotic technology has been applied to lower limb rehabilitation training of patients with limb movement dysfunction.Besides the traditional physical training.With the robot's own automatic,repetitions and accurate characteristics,the rise of the application of clinical rehabilitation robots has been increasingly,At present,the research and development of the lower limb rehabilitation robot is mainly for single rehabilitation training mode,such as the single joint training,the single posture training and so far there is no lower limb rehabilitation robot no comprehensive the joints,as well as a gesture of rehabilitation training pattern of the lower limb rehabilitation robot.In the presence of what has been discussed above,this paper study a 6-degreeof-freedom lower limb rehabilitation robot which can realize sitting posture,lying posture and stance training mode.Leg mechanism of the robot includes the hip(2 DOF),knee(1 DOF),ankle(3 DOF)three joints,uses the string and hybrid mechanism and design parameters conform with human body engineering,the recovery performance can satisfy the demands of lower limb movement function disorder of rehabilitation.First of all,select the design parameters including the range of angle and the range of mechanical arm length.According to convenient,practical,safe and simple operation design idea,comprehensive design of the structure for lower limb rehabilitation robot.Second,this paper solve forward and inverse position,analysis the workspace and sets up kinematics and dynamics model of the right leg mechanism for lower limb rehabilitation robot.Again,in view of the demand of the working space and the patients' rehabilitation training,the lower limb rehabilitation robot trajectory planning is made with design concept of no impact on the movement in this paper.Then in the application of MATLAB software,this paper analyses the change rule of the trajectory planning to determine which convalescence of the patients the trajectory is suitable for.Finally,simulate the freedom,workspace and dynamic of the right leg mechanism for lower limb rehabilitation robot by Adams software.Lay the reliable theory basis for future products.