Structual Design And Kinematic Performance Analysis Of A Lower Limb Rehabilitation Training Robot With Integration Of Bed

With the aging of population,people suffering from nervous system disease,muscle atrophy and cardio-cerebrovascular disease increased,resulting in patients with lower extremity dyskinesia significantly increased.Based on the China rehabilitation trainer shortage,and most of the existing lower limb rehabilitation training device is aimed at the training of patients in the later period of rehabilitation,a lower limb rehabilitation training robot with the integration of the bed is designed in this paper.This robot is aimed at comprehensive lower limb rehabilitation training for early bedridden patients.(1)According to the mechanism of human lower limb movement and the requirement of lower limb rehabilitation training,the functional requirements of the lower limb rehabilitation training robot are presented.According to the functional requirements,the back lifting mechanism,the elevating mechanism,the hip joint abduction mechanism,the hip joint external rotation mechanism,the hip knee flexion mechanism,the ankle joint motion mechanism and the width adjusting mechanism are designed.(2)The kinematics model of the back lifting mechanism,the elevating mechanism,the hip knee flexion mechanism,the ankle joint motion mechanism,the hip joint abduction mechanism and the hip joint external rotation mechanism are established respectively.The kinematics of each mechanism is analyzed by the closed vector method.The expressions of displacement,velocity and acceleration of each member are obtained,and size of each member in the mechanisms is designed.The kinematics analysis of each mechanism is carried out by using Matlab,and the displacement,velocity and acceleration curves are obtained.(3)The 3D model of the lower limb rehabilitation robot is established and assembled by using CATIA.The motion simulation of the back lifting mechanism,the elevating mechanism the hip abduction mechanism and the hip and knee joint flexion mechanism are carried out by using ADAMS.The results obtained are similar to those obtained by Matlab,and the design of the mechanism is proved to be reasonable.(4)The static analysis of the the back lifting module,the elevating module and abduction support module is carried out by using ABAQUS.The stress nephogram and deformation nephogram of corresponding modules are obtained.The results show that the strength and stiffness of the lower limb rehabilitation robot are satisfied.The research results of this paper lay the basis for the development of lower limb rehabilitation training robot,and useful references are peovided for further research and application.