Dimensional Synthesis Design of a Walking Aided Training Robot

Qin Tao

doi:10.16578/j.issn.1004.2539.2018.07.013

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Dimensional Synthesis Design of a Walking Aided Training Robot

更新时间：2022-10-20

- Dimensional Synthesis Design of a Walking Aided Training Robot
- Vol. 42, Issue 7, Pages: 61-65(2018)
- 作者机构：
  
  1. 湖北文理学院机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.07.013
  CLC：
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[1]秦涛.辅助步行训练机器人机构尺度综合设计[J].机械传动,2018,42(07):61-65.

Qin Tao. Dimensional Synthesis Design of a Walking Aided Training Robot. [J]. 42(7):61-65(2018)
[1]秦涛.辅助步行训练机器人机构尺度综合设计[J].机械传动,2018,42(07):61-65. DOI： 10.16578/j.issn.1004.2539.2018.07.013.

Qin Tao. Dimensional Synthesis Design of a Walking Aided Training Robot. [J]. 42(7):61-65(2018) DOI： 10.16578/j.issn.1004.2539.2018.07.013.

摘要

为帮助下肢功能障碍患者完成步行康复训练,设计了一种足底驱动式辅助步行训练的机器人机构。根据正常步行时下肢踝、膝关节姿态变化规律,对踝关节姿态约束机构和辅助屈膝机构进行了尺度综合优化,确定了机构的最佳尺寸参数。依据足底转角规律和范围综合,确定了踝关节姿态约束机构的曲线约束导轨ζ的轨迹,分析约束导轨倾斜角度和踏板长度对踝关节转角范围的影响;设计了膝关节辅助屈膝机构帮助训练时患肢实现膝关节屈曲动作,分析并确定机构尺度对辅助屈膝动作的影响。并利用Matlab工具箱建立机构的仿真模型,通过仿真分析验证机构尺度综合优化的合理性和机构设计的可行性。

Abstract

In order to help patients with lower extremity dysfunction complete walking rehabilitation training,a plantar-driven walking aided training robot mechanism is designed. According to the change laws of ankle and knee joint posture during normal walking,the dimensional synthesis optimization of ankle joint attitude restraining mechanism and aided knee flexion mechanism is carried out to determine the optimal size parameters of the mechanism. According to the rotation laws and range of the plantar,the trajectory of restraint guide rail ζof ankle joint attitude restraining mechanism is comprehensively determined,and the effects of confined guide way inclination angle and pedal length on the angle range of ankle joint are analyzed. The aided knee flexion mechanism is designed to help the affected limbs flexibly in the knee during walking training,and the influence of mechanism dimension on the aided knee flexion is analyzed and determined. The simulation model of the mechanism is established by using the Matlab toolbox,and the rationality of dimensional synthesis optimization and the feasibility of robot mechanism design is verified by the results of simulation analysis.

关键词

康复机器人步行训练尺度综合设计

Keywords

Rehabilitation robotGait trainingDimensional synthesis design

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