Research On The Mechanism Of A Sitting,Lying,Standing,Retractable Lower Limb Rehabilitation Robot

With the gradual arrival of the aging society,coupled with a variety of accidents,the number of paralyzed patients in China is increasing year by year,and the demand for rehabilitation robots is growing rapidly.At the same time,most of the current lower limb rehabilitation robots can only achieve standing or sitting rehabilitation training,but can not achieve multi-body rehabilitation training.Aiming at this demand,this paper proposed a rehabilitation robot with retractable lower limbs and carried out related research.The specific work is as follows:The research development on the basis of the lower limb rehabilitation robot both at home and abroad,combined with the project requirements and determine the technical indicators related to the human body parameters,considering the goal of lower limb rehabilitation robot using the crowd,determine the overall configuration of the lower limb rehabilitation robot,the whole can be divided into sit lie stand bed module,show the leg module and the lower limb rehabilitation mechanical leg module,and the virtual prototype structure of each part is designed on the basis of analysis of the scheme.In lower limb rehabilitation robot virtual prototype,on the basis of related parameters,simplifying the mechanism model,the lower limb rehabilitation mechanical legs module,sit lie stand rehabilitation bed module and show legs module established the mathematical model,analysis of kinematics relationship,and solve the exhibition legs module and mechanical recovery module in lying posture,sitting and standing posture under variable work space.Based on the kinematics analysis of the lower limb rehabilitation robot,the dynamics analysis of the chair back and the seat of the rehabilitation bed module and the mechanical leg module was carried out,and the driving force of each joint under the given movement was obtained.The simulation calculation was carried out for the mechanical leg module,which verified the correctness of the theoretical analysisCompleted the whole process of the leg extension module from design,drawing,processing and manufacturing to assembly,completed the processing,assembly and debugging of the lower limb rehabilitation robot prototype,built the sensing system and electrical control system of the lower limb rehabilitation robot,and carried out experimental verification on the basic performance parameters,which could achieve the expected design objectives.It lays a foundation for the next step of robot debugging and control system construction,and provides experience for the design improvement of the next generation of rehabilitation robots.