Structural Design Optimization And Simulation Analysis Of Multi-Position Lower Limb Rehabilitation Robot

With the aggravation of the current situatuion of the population in China,There are many patients with lower limb disorders caused by multiple factors such as stroke or hemiplegia.In addition,there is a shortage of rehabilitation teachers for lower limb training in China.Based on these user demands and current market situation,a liftable robot for a multi-position posture lower limb rehabilitation robot was designed and further studied.The main contents are as follows:(1)By analyzing the existing deficiencies of the original rehabilitation robot in the laboratory,and combining with the actual situation,a reasonable improvement and optimization plan was proposed to make the structural design of the rehabilitation robot more safe,comfortable and practical.(2)In accordance with the mechanical structure principles of machinability,assembly and disassembly,the rehabilitation robot bed,bed base and lifting mechanism are designed to solve the problems of bed shaking and the difficulty of patient “up and down” rehabilitation training.At the same time,we optimize the structure of the lower limbs and finish the virtual assembly of the mechanical structure of the overall robot with the help of the powerful modeling function of the UG software.(3)Using the software Opensim and MATLAB to solve the radian-time curve of the hip and knee joints of the normal walking of the human body,ADAMS software was used to carry out kinematics and dynamics simulation analysis of the lower limbs of the rehabilitation robot,which verified that there was no interference between the lower limbs and the bed base,and solved the driving torque curve of the hip and knee joint.At the same time,using the ADAMS-MATLAB joint simulation solves the angle-time and force-time change curves of the stand-up and overturning mechanism of the rehabilitation robot,and checks the parameters of the electric push rod selection.(4)With the help of UG software,the structure of the rehabilitation robot bed,bed base,lifting frame and lower limb mechanism model were simplified,and the finite element analysis model was established successively.We use ANSYS Workbench software to perform static analysis on each component to check its strength and stiffness;Then the Modal analysis of the rehabilitation robot is carried out using the Modal module in ANSYS,which verifies that its structure does not resonate.At the same time,the multi-objective optimization design is carried out on the connection arm structure of the key components of the rehabilitation robot.Finally,the optimization model of the connection arm is determined according to the simulation results.(5)Combined with the body structure of the rehabilitation robot,we design the appearance cover to make the structure of the rehabilitation robot more reasonable,beautiful and humanized.