Mechanism Design And Motion Analysis Of Lower Rehabilitation Robot

With the continuous development of science and technology and medical technology significantly improved,lower limb paralysis patients for rehabilitation treatment equipment performance requirements are getting higher and higher.In the design process,taking full account of the stability of rehabilitation robot system operation and the comfort and ride comfort of patients wearing exoskeleton.So that patients can wear the lower extremity exoskeleton rehabilitation robot in the state of successful completion of the rehabilitation process of training.In this paper,the development of rehabilitation robot at home and abroad is studied in detail,and the characteristics of rehabilitation robot developed by domestic and foreign organizations are described.The advantages and disadvantages of the rehabilitation robot are analyzed and summarized.And then combined with human anatomy and human gait and kinematic characteristics of the parameters of the lower extremity exoskeleton rehabilitation robot overall program design.This paper introduces the mechanical structure system,the sensor detection system,the computer control system and the power supply system respectively,and expounds the overall design idea.Then the DH method was used to model the lower extremity exoskeletal rehabilitation robot,and the human body freedom was simplified according to the existing conditions.The single leg model of the external skeleton rehabilitation robot was established,and the joint variable and the external bone rehabilitation robot The relationship between the end positions.In the dynamic analysis,Lagrangian-Euler method and Newton method were used to analyze the lower extremity exoskeletal rehabilitation robot,and then the relationship between the driving force of the rehabilitation robot and the movement state was expressed.Rehabilitation robots need to maintain a high degree of consistency with the normal movement of the human body during exercise.In consideration of patient wear comfort and ergonomics designed the freedom of the joints and the rod length adjustment mechanism to protect the patient wearing the exoskeleton equipment when the convenience and comfort.And through the solid software to complete the overall lower extremity exoskeletal rehabilitation robot three-dimensional modeling,through the parts processing and procurement of the final completion of the lower extremity exoskeleton rehabilitation robot prototype prototype prototype trial.