Design And Research Of Multi-functional Lower Limb Rehabilitation Training Robot Body

In recent years,with the development of economy,people’s living standards have improved significantly,but the number of people with lower extremity dysfunction caused by traffic accidents is increasing.The number of elderly people with movement disorders is increasing year by year.Therefore,it is very necessary to design a reasonable lower limb rehabilitation training equipment to improve the efficiency of patients’ rehabilitation and reduce the time of patients’ rehabilitation.The new multifunctional lower extremity rehabilitation training robot designed in this subject has the functions of automatic lifting and lowering of the seat and assisting getting up.needs.The main research contents are as follows:First of all,the functional requirements and design principles of the robot body are formulated according to the ergonomics of the existing lower limb rehabilitation training equipment in the world;according to the relevant industry standards,the overall size of the robot body,the size of each module and the Design indicators;establish a three-dimensional model of the multi-functional lower limb rehabilitation training robot,and design the lifting seat mechanism,the folding pedal mechanism,and the weight loss training system,and finally select the important parts of the robot.Second,kinematics and dynamics analysis based on virtual prototype.First,through theoretical calculation,the motion equations of the seat bracket and the seat back bracket are obtained,and the theoretical curve is obtained through the calculation software,and the theoretical results are compared with the simulation results in the virtual prototype;then through the calculation,the electric push rod is obtained.The thrust change equation is obtained,and the theoretical curve is obtained through the calculation software.Finally,it is simulated and verified in the virtual prototype,and the results are compared and analyzed.Thirdly,the research of weight reduction system based on fuzzy PID control.Firstly,the mathematical model of each component of the weight reduction mechanism is established,and the transfer function of the weight reduction system is obtained;secondly,the weight reduction control system scheme is designed,and PID and fuzzy PID control are used to adjust the running state of the torque motor;then,the simulation software is used to adjust the control system.The simulation results show that the fuzzy PID control mode is used,and the system has fast response speed and high accuracy,which can meet the weight loss needs of patients in different stages of recovery.Finally,the development of the man-machine control interface is completed based on the host computer software.Finally,optimization of key components based on finite element analysis.Firstly,the static analysis of the rehabilitation training bracket is carried out by using the finite element analysis software,and the total deformation cloud map,equivalent stress cloud map and safety factor cloud map are obtained,which verifies the reliability of the design;Finally,on the premise of satisfying the strength and stiffness,the topology optimization of the robot lift seat is carried out to reduce the mass and save the cost.