Design And Optimization Of Bionic Robot To Assist Human Body From Sitting To Standing

The sustainable development of economy and society brings great convenience to our production and life,and inevitably brings many problems.In particular,the aging of the population is aggravating,which leads to pension difficulties and the emergence of a large number of chronic disease rehabilitation and assisted behavior,there is also the need for rehabilitation care for accidental injuries in a large population,people with disabilities ensure a high quality of life with dignity and so on,these problems are related to improving the overall quality of the people and their living standards,these practical difficulties and contradictions are attracting increasing public attention.In the field of nursing care and rehabilitation,the problem of training and protection for the disabled of lower limb movement has been paid more attention because it can guarantee or improve the basic ability of movement and walking.More and more researches are involved in this field,and related rehabilitation products are born in response to the huge market demand,and the development of rehabilitation equipment field is more and more prosperous.In the face of such a good development trend in this field,it is quite feasible to design an intelligent auxiliary training robot based on the research of sit-and-stand movement in order to meet the actual market demand.Based on the investigation and research of domestic and foreign rehabilitation medical robots and related rehabilitation products,this paper firstly focuses on the natural standing movement of human body,and establishes a simplified four-limb segment model of human body in sagittal plane,through the analysis of lower limb kinematics,the method of obtaining the bionic motion curve of the hip joint point in the general sense is established,and the bionic motion data is obtained by combining with the standard limb segment size.On this basis,the dynamic analysis of sitting tostanding movement movement is carried out,the theory of gravity center stability during sitting to standing is studied in the aspect of sitting to standing movement stability and anti-fall.The main purpose of the research on lower limb motor muscles is to obtain joint moments during standing by establishing a forward biomechanical model.Combining with the method of inverse dynamics modeling,it provides a theoretical method for obtaining real-time lower limb joint moments during motion training.Combined with the above theoretical research,this paper further designed a rehabilitation training robot with the main purpose of assisting sitting and standing movement,with the help of CATIA software,3D modeling of the mechanical structure of the robot was carried out,and the standardized size design of the structure was carried out.The finite element analysis software Hypermesh was used to divide the mesh of the structure and complete the corresponding safety verification,and in the safety design requirements to further complete the purpose of reducing production and transportation costs for the lightweight design.In this paper,the rehabilitation training system of sitting and standing function is built through the theoretical analysis of sitting and standing movement and the design of solid mechanical structure.By comparing the movement track of human body sitting and standing with the movement track of the mechanical structure,the scientific and practical nature of the bionic motion sit-to-stand auxiliary training system is verified.It is worth emphasizing that although the research content involved in this paper has achieved certain results,the research on sitting and standing movement still needs to be further deepened,relevant theories and methods still need to be improved.Especially for the mechanical structure design of the rehabilitation robot,it is still necessary to carry out the materialized production work with clinical experiment as the ultimate goal.The training system of rehabilitation of sitting and standing function also needs to be further improved with the objective of materialized application.