Structural Design And Research Of Lower Limb Rehabilitation Robot Based On Exoskeleton

Lower limb rehabilitation robot is a product of robot technology applied in medical rehabilitation training,which is used to help patients with limb disorders maintain or restore limb movement ability in rehabilitation training.By introducing automation technology into the field of medical rehabilitation,it can effectively improve the shortcomings of traditional rehabilitation treatment,such as high human cost and unsatisfactory therapeutic effect,and improve the treatment efficiency and quality of patients in rehabilitation training.Based on the analysis of the research status and development trend of lower limb rehabilitation robots at home and abroad,the main research contents of this paper are established.After analyzing the motion mechanism and the gait movement law of human lower limbs,and the motion data of human joints are measured,the cubic spline interpolation function for processing discrete joint motion data is deduced and reproduced with C language programming.By choosing suitable materials and consulting relevant human body data,the adjusting range of the robot structure and the joint’s structural characteristics are determined.The linear driving system,leg length adjusting mechanism and the balance mechanism of the robot exoskeleton are designed based on calculation of the relevant data.The three-dimensional solid model of the robot is completed by Pro/e modeling software,and the key parts of the robot are checked by ANSYS,which provides a reference for the design of the mechanism.Finally,the mechanical body of the robot test prototype is manufactured.Based on the test prototype,the kinematics and dynamics mathematical models of the lower limb rehabilitation robot are established.In kinematics part,the forward and inverse kinematics equations of the robot are derived by D-H parameter method.In the dynamics part,firstly,the parameters such as mass size,centroid position and moment of inertia of each component are obtained by CAD technology.Then,the inverse kinematics formula of the robot is deduced by Lagrange equation,and the theoretical joint torque value is obtained after entering the measured relevant parameters.The ADAMS virtual prototyping technology is used to obtain the simulated joint torque value of the robot,the theoretical and simulation results are compared to verify the correctness of the theoretical derivation.The trajectory tracking test of the test prototype is carried out according to the no-load and load conditions of different leg lengths.The reliability and functionality of the lower limb rehabilitation robot system are verified by the analysis and comparison of the test data,which provides the necessary theoretical basis and practical experience for the development of the lower limb rehabilitation robot to a mature rehabilitation training product.