Research Based On The Lower Limb Gait Rehabilitation Training Robot

Lower limb rehabilitation training robot as the focus research of the robot technology in the current,involves the biomedical,mechanics,electronics,computer science,mathematical analysis and other fields.This article embarks from the structure of human lower limbs,and analyzes the walking gait of normal person's.then built a set of virtual prototyping platform to do the study of simulation experiments based on the design prototype of lower limb gait rehabilitation training robot.This paper calibrate the geometric size according to the prototype of lower limb gait rehabilitation training robot.Through the SolidWorks establish the 3D model of lower limb robot,analyzes its mechanical structure,then determines some parameters such as the centroid position of every components and the moment of inertia.Combination of normal walking gait,determine the curve of gait trajectory.Analyze the relationship of kinematic among the mechanical structures by SolidWorks,then obtained the relevant parameters of joint motion and geometric position.Set up the kinematics theory model of lower limb robot through the method of D-H in MATLAB.Take the motor trajectory displacement as driving trajectory.Set up the virtual prototype model in MATLAB/Sim Mechanics and analyze the simulation.The accuracy of the kinematic theory modeling is verified by comparing the trajectory curve of the joint with the simulation curve.Finally,the accuracy of kinematics modeling is verified by the experimental trajectory analysis of the joints of the experiment,which provides the basis of theoretical and simulation for the subsequent dynamic analysis.Analyze the dynamics on the basis of guarantee the kinematics modeling of the lower limb robot is right,establish the dynamics theory model of lower limb robot through the method of Lagrange.Set the virtual prototype of lower limb robot in ADAMS,and uses its powerful solver for dynamic simulation.Analyzed in lower limb robot movement between the joint angle,angular velocity and rigid body in the process of stress change,etc.Provides the design basis for the optimization of the lower limb robot structure.Based on ADAMS simulation,the paper analyzes thefactors influencing the dynamic characteristics of lower limb robot,and carries on the parameter identification model of dynamics theory,which provides the theoretical foundation for lower limb of the robot control.In this paper,a co-simulation system is established by MATLAB-ADAMS,take the moment with PD control algorithm according to the calculated by using the passive training mode,carry out the simulation experiment of the gait trajectory tracking control,the simulation results shows that the algorithm of control is effective,thus it has a certain guiding significance to the actual prototype design of control algorithm and setting the PID parameters,and provide a platform of simulation experiment for follow-up study.