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针对人体腰部的步态康复训练,设计了一种柔索气动肌肉混合驱动腰部康复机器人。通过对人体躯干在步态时运动状态的分析,确定康复机器人的基本功能要求。据此对康复机器人进行机械结构设计,使用双并联机构分别对人体腰部和下肢进行牵引驱动,并且采用柔性驱动,综合气动肌肉和柔索的驱动特点,不仅增加了康复机器人的适应性,还防止了受训人在训练过程中受到强迫性伤害。为验证机构的上述特点,使用封闭矢量环法计算了位姿逆解,并建立了速度雅可比矩阵。建立了考虑人体尺寸的康复机器人运动学模型和气动肌肉组件动力学模型,数值仿真得出步态时柔索、气动肌肉运动学性能以及气动肌肉组件力输出变化规律曲线,验证了机构的有效性。
Aiming at the human gait rehabilitation training, a kind of flexible muscle-driven hybrid rehabilitation lumbar rehabilitation robot was designed. Through the analysis of the movement state of human torso in gait, the basic functional requirements of rehabilitation robot are determined. Based on this, the mechanical design of rehabilitation robot is carried out. The double parallel mechanism is used to drive the lumbar and lower extremity of the human body respectively. The flexible driving and the driving characteristics of pneumatic muscle and flexible cable not only increase the adaptability of rehabilitation robot, but also prevent Trainees were forced to hurt during training. In order to verify the above characteristics of the institution, the closed-loop vector loop method was used to calculate the inverse pose and the Jacobian matrix of velocity was established. The kinematics model and dynamic model of aerodynamic muscle component of rehabilitation robot considering the size of the human body are established. The numerical simulation results show that the dynamic characteristics of the flexible cable, the aerodynamic muscle and the output variation of the aerodynamic muscle component in the gait state verify the effectiveness of the mechanism .