The Design And Simulation Study On Lower Limb Rehabilitation Robot

Because of the traffic accident,cardiovascular and cerebrovascular diseases,aging population increase caused by lower limb injury or paralysis in patients with a serious impact on the normal walking and the quality of life,to restore and improve the motor function of lower limb not only need surgery and medical treatment,science,have targeted rehabilitation training is essential.The design of a simple structure,flexible use,light weight,low price and comfortable wearing.The main research contents are as follows:Through the study of human gait in normal walking theory,the lower limb gait training device design,the length of the bar design is stepless adjustable for different height,different posture of patients,the three-dimensional mechanical design of gait training device for CREO.The forward and inverse kinematics were analysis of the lower limb gait training mechanism is carried out with the Descartes' coordinate transformation method,compared with other methods,Descartes coordinates can obtained by all institutions,not singular points.Using MATLAB/Simulink to simulated and analyzed the mechanism,so as to obtain the output trajectory of robot end foot and the curve of the movement angle of hip,knee and ankle joints.At the same time they can be quickly obtained by any predetermined gait training of hip,knee and ankle in a motion cycle curve,and the angle and angular velocity,angular acceleration curves,solving the complex computing problems,as the mechanism simulation provides new ways.With the Lagrange method for the dynamic analysis of mechanism,the hip,knee,ankle joint moment expression.A dynamic simulation module diagram of mechanism using Sim Mechanics robot rapidly by the simulation of hip,knee,ankle joint torque curves.The movement space and dexterity analysis of gait training mechanism for robot are analyzed.The height and the hip,knee,ankle joint movement angle on the effect of sports space.Based on the condition number of Jacobian matrix,get the distribution mechanism of lower limb gait training dexterousness of MATLAB programming,which can provide reference for structure design.