Design And Dynamics Of Horizontal Lower Limb Rehabilitation Robot

In order to assist people with disabilities in rehabilitation of lower limbs,a horizontal human lower limb rehabilitation training robot is proposed.Combining smart wheelchairs with mechanical legs,design a set of rehabilitation training equipment that can assist human activities and mobility to meet the normal life needs of the elderly and the disabled.The main research work is as follows:Based on the comparison of the development of human lower limb rehabilitation robots at home and abroad,based on Opensim fusion of static biomechanical information of human lower limb joint movements,the laws of movement of muscle forces and joint corners during normal human movements,as well as lower limb muscle activation and joint torque are obtained Factors,provide motion basis for the design of horizontal human lower limb rehabilitation training robot.Complete the overall structural design of the rehabilitation robot.In combination with ergonomics,a prototype of a mechanism suitable for lower limb rehabilitation needs was selected,and an overall three-dimensional model was established based on Soldworks,and the driving device was selected.From a safety perspective,static analysis was performed using Workbench to check the strength of the mechanical leg structure,and it was verified to meet the actual needs.Establish kinematics and dynamics models of mechanical legs for rehabilitation training.Based on the D-H parameter method,the kinematic equation of the mechanical leg is deduced and its positive solution is obtained by MATLAB.Based on the Lagrangian method,a rigid dynamic model was established for the mechanical leg,and simulations were performed using ADAMS to obtain the moment curves of the mechanical thigh,calf and joints.Rigid-flexible coupling simulation of human lower limb rehabilitation training mechanical leg.A virtual prototype of a rehabilitation training mechanical leg was established.In order to obtain accurate force and torque conditions,a flexible mechanical leg was created for the lower limbs to get closer to the actual movement.Apply different human body loads on the mechanical thighs to discuss the effects of vibration on the mechanical legs.Figure 75;Table 6;Reference 58...