| A multi-functional lower limb rehabilitation robot, which can simulate human walking gait, is designed in this dissertation. Based on technical characteristics and development situation at home and abroad on the lower limb rehabilitation equipment, a scheme of rehabilitation robot, which is inexpensive, combined with wheelchair, suitable for families to use, is proposed.Firstly, the characteristics of human walking gait are analyzed. And single lower limb is simplified to be a two-pole and two-DOF mechanism. The human gait data are obtained through the experiment, and the angular displacement of hip joint and knee joint are drawn, and the motion laws of the hip joint and knee joint are analyzed.Secondly, according to the characteristics of the gait motion, the mechanisms of hip joint and knee joint are proposed. The motion of hip joint is completed by the crank-rocker mechanism. The motion of the knee joint is realized by geared five-bar linkage and five-bar mechanism. Kinematic mathematical models of the hip mechanism and the knee mechanism are established. Then the genetic algorithm is used to calculate the parameters of the mechanisms of the hip joint and knee joint.Thirdly, the transformation between wheelchair function and lower limb rehabilitation training are studied. A â…¤-type lifting mechanism is proposed, which is combined with the four-bar mechanism to realize the functional transformation. The parameters of the functional transformation mechanism are calculated by the computer aided graphic method.At last, the 3D model of the lower limb rehabilitation robot is established in SolidWorks. Simulation of motion is carried out. The accuracy of motion of the mechanism is verified by comparing with the real human gait. The kinematics performance of the lower limb rehabilitation mechanism and the â…¤-type lifting mechanism are analyzed.According to the simulation results, the lower limb rehabilitation robot has good motion precision and stability. |
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