Design And Simulation Of Two Kinds Of Gait Mode Rehabilitation Robot

With the increase of China’s total population and the aging growing problem, the amount of the disabled population in China is increasing year by year. Rehabilitation engineering has received more attention. Rehabilitation equipment will play a major role in the rehabilitation stage for those who suffered acute treatment. Rehabilitation robots are a new type of robot in recent years. The main function of rehabilitation training robot is to help the trainer complete all kinds of sports training.Loss lower limb rehabilitation robot researched by this subject was composed by weight loss support system and gait mechanism. Gait mechanism included walking gait mechanism and steps gait mechanism, because the main motions of patients in normal life are walking and up steps. It can satisfy the different stages of the rehabilitation training because of weight loss system. On the other hand, it can receive two different ways of rehabilitation training by imitating the gait trajectory of walking and up the steps. On the basis of existing research, this paper has been made the following works:(1)Research status at home and abroad about lower limb rehabilitation robotThis paper is introduced the research status at home and abroad of lower limb rehabilitation robot in the field of rehabilitation. The function of rehabilitation training and structure design of the lower limb rehabilitation robot are known..(2)Acquisition and analysis of normal walking gait and steps gait trajectoryWalking gait trajectory in this paper got from the reference, then to obtain the steps gait trajectory. We firstly shot the process that the subject was up the steps by normal camera.The images by frame are captured. The images are suffered the processes like gray and filter by Matlab software. Point coordinates of the marks can be got. The gait trajectory curve can be plot when up the steps by the coordinates by software Matlab.(3)The integral design of lower limb rehabilitation robotThe lower limb rehabilitation robot is composed of weight loss support system, walking gait and steps gait mechanism. Electric putter is the power of the weight loss support system.Because the weight loss tension of weight loss support system is on the two sides of trainers’ shoulder, the possibility of a rotation along the vertical direction can be avoided when the weight loss tension is only on one point. Because of the tension sensor in the mechanism,three kinds of weight loss model such as 30%,15% and temporary protection can be received.It can satisfy the using demand of the different stages of rehabilitation. The designs ofwalking gait and steps gait mechanism have been depended on the walking gait trajectory curve and steps gait trajectory curve. The similar trajectory in the linkage map has been got.Then the basic structure of the gait mechanism has been determined. The servo motor for the gait mechanism has been selected. At last the 3D model of pedal weight loss lower limb rehabilitation robot has built by Pro/e software.(4) Kinematics simulation of the walking gait mechanism and steps gait mechanism based on AdamsIn this paper, the kinematics simulation of the walking gait mechanism and steps mechanism have been designed in order to verify the gait trajectory curve of mechanism conformed the gait trajectory curve of normal people. At first, the mathematical model of a series of parameters has been built by vector equation. Then the simple model of gait mechanism in the software Pro/e has been built. Kinematics simulation of the simple gait mechanism has been built by software Adams. The rationality of the gait mechanism has been verified by a series of parameters got in the software Adams.(5)Finite element simulation analysis of main stress components based on Ansys WorkbenchIn order to ensure the safety and stability of pedal weight loss lower limb rehabilitation robot’s structure, the static analysis and modal analysis for the main stress components in the structure have been got. For the components whose stress and deformation is too big in the static analysis, the structure is optimized to ensure the structure safety. The resonance phenomenon can be avoided by the inherent vibration mode of the mechanism structure has been got in the modal analysis.