The Structure Research Of The Bed-type Lower Limb Rehabilitation Training Robot

At present,with the continuous development of society, aging trend of population is increasing gradually. Aging has become a social problem. The elderly develop cardiovascular disease and neural system disease easily. This kind of patients also develop hemiplegia symptoms and lower limbs dyskinesia. Early surgical therapy and drug treatment is important. But in the late recovery of lower limb movement ability the lower limb rehabilitation training is more important. The research of lower limb rehabilitation training robot has great significance for saving labor costs, improving the effect of lower limb rehabilitation training. However, the existing lower limb rehabilitation training robots still exist some problems. Some of the lower limb rehabilitation training robot with simple structure have single function, and the rehabilitation effect of the robot is limited. Other lower limb rehabilitation training robots which have complex structures. The cost of the robot is expensive. These kinds of robots also have complex control system and lacking of economy. For the purpose of simple structure, easy to control, a bed-type lower limb rehabilitation training robot is designed.First, In view of the lower limb rehabilitation training robot, this paper analyzed existing lower limb rehabilitation training robot at home and abroad. The theory of human walking and the kinematics relationship human lower limb joint were studied. The mechanical structure of the lower limb rehabilitation robot was designed based on t lower limb joint Angle data of human and lower limb joint kinematics relations of human.This article analyzed the two aspects of the robot,one is the mechanism design and kinematics modeling of the rehabilitation training robot,the other is the structural parameters optimization of the rehabilitation mechanism based on the joint trajectory and the mapping relationship. In the aspect of rehabilitation training robot mechanism design and kinematics modeling, with the analysis of the configuration, we chose an optimal structure. The kinematics model and dynamics model of the rehabilitation training bed was established, the movement of bed and the carrying capacity of bed was analyzed. With the establishment of the robot kinematics model, we analyzed the structure parameters on the robot joint angle and the influence of the angular velocity. Rehabilitation training institutions structure parameter optimization, the paper analyses the structure parameters on the joint trajectory and the influence of the mapping relation. The evaluation of institution was established based on the joint trajectory and the mapping relationship. Finally, the optimized structural parameters of the robot were analyzed. One set of optimized structure parameters are selected, the need of joint torque training institutions is analyzed, which provides the reference for the selection of the synchronous pulley,the synchronous belt type,the motor, and the right-angle reducer.At the end of the paper the robot experimental system is established, the higher level range of the bed body, the roll angle range of the bed body and the joint angle of the robot were measured and analyzed. The experiments show that the designed robot is feasible, and meet the requirements of the original design.The bed-type lower limb rehabilitation training robot consists of the gravity load-adjustable bed body, as well as multi-link lower limb rehabilitation training mechanism. The bed body was driven by two linear actuators, which made the bed body can level up or down a certain height, can roll from horizontal to vertical flip. multi-link lower limb rehabilitation training institutions were driven by only one motor, could simulate normal gait movement of the body. The robot has simple structure, convenient controlling, as well as good economy.