Research On Type Selection Analysis And Innovative Design Of Lower Limb Rehabilitation Device

In recent years,the number of people with mobility disorders caused by stroke,spinal cord injury or other related diseases has accelerated.In order to better improve their quality of life,we need to use different forms of equipment for adjuvant treatment to help them gradually restore their walking ability.The application of robot technology in the field of rehabilitation medicine can well solve the problem of scarce resources of hospital therapists and provide patients with effective repetitive gait training.So the lower limb rehabilitation robot has become a hot research direction.However,today’s lower limb rehabilitation devices have relatively simple structure and can cope with relatively few rehabilitation scenarios.Therefore,combined with the structural innovation and use requirements of lower limb rehabilitation device,this paper takes the generation of mechanism configuration by creative design method as the main content,and carries out a series of work of lower limb rehabilitation device,including configuration generation,kinematics analysis,virtual prototype design and simulation.The specific research results are as follows:(1)The remolding principle and repair mechanism of the nervous system in the rehabilitation theory are analyzed.The movement of the sick limb in different recovery cycles is studied,and the feasibility of training with rehabilitation equipment is explained;The key basic theories such as the size of human skeleton and the degree of freedom of lower limb joints are analyzed.Combined with the requirements of lower limb rehabilitation device for walking trajectory,the kinematics model of human body in horizontal posture is established,the motion trajectory of medial ankle joint in sagittal plane is obtained,and the fitting equation of trajectory is solved in the form of curve fitting.(2)Using Yan’s creative mechanism design method,taking the existing lower limb rehabilitation equipment as the original structure,combined with the analysis processes of configuration generalization,number synthesis and specialization,a total of 7 innovative configuration schemes based on closed chain 7 rods and 8 pairs are generated.Finally,starting from the convenience of kinematics solution,one of the seven innovative configurations is determined as the innovative configuration of lower limb rehabilitation device in this paper;The preliminary modeling of the configuration is carried out by using Solid Works software,and four motion modes that can be completed by this configuration are obtained.In addition,the kinematics analysis of the new configuration is carried out.Based on the analysis process of the closed vector method of the closed chain robot,the motion relationship between the driving end of the configuration and the end of the mechanism is solved,and the analysis of the position kinematics forward solution,position kinematics inverse solution,velocity kinematics forward solution and velocity kinematics inverse solution of the configuration are completed respectively.(3)Aiming at the new configuration of the lower limb rehabilitation device,the detailed virtual modeling of the mechanical structure is carried out,and the specific solutions of rod layering,connection form,realization of motion mode,leg adaptation and adjustment and motion anti-interference in the structural design are analyzed;Further,using the analysis methods of divergence and implication in extenics,combined with the mapping relationship from demand to structure,the extended analysis of security scheme(non mechanical part)is carried out.After that,the optimization evaluation method is used to determine the best scheme,which increases the perfection of the whole machine design.(4)The joint simulation of Adams and Solid Works for lower limb rehabilitation device is carried out.The virtual prototype simplified model of the lower limb rehabilitation device is established,and the walking trajectory,independent motion of knee and hip joint and knee holding motion of the mechanism are simulated respectively.The bearing capacity,smoothness and joint motion range of the mechanism under four motion modes are analyzed,the comprehensive performance of the mechanism is determined,the rationality of the mechanism is explained,and a reference is provided for the subsequent prototype development.