Structure Design And Optimization Of Walking Motion Bionic Robot

The increase in the number of elderly people and cerebrovascular patients has caused many social problems,and also attracted the attention of many researchers in the field of rehabilitation medicine.The development of rehabilitation robots to assist patients to complete rehabilitation training replaces the single repeated training of traditional therapists to assist patients,which not only reduces the labor intensity of rehabilitation therapists,but also greatly increases the efficiency of patient rehabilitation.Through research,we can find that many countries in the world have developed many medical rehabilitation robots,which have different characteristics but most of them are relatively large and expensive,which is not suitable for home use.Therefore,this paper designed a new type of walking motion bionic robot,the main contents are as follows:Firstly,in order to facilitate the analysis of hip and foot movement trajectories during gait walking,a human body 7-limb segment model is established,and with the help of this model,the calculation formulas of the position vector coordinates of the hip,knee and ankle joint points are derived.And further through the experimental method,the kinematics data during the walking of the lower limbs was obtained.In accordance with the Chinese body size standard,the movement data of the human foot sole and hip joint point under the standard size under the standard gait was obtained through the scaling method.The following plantar dynamic analysis and auxiliary mechanical structure design provided reliable data support.After determining the structured foot pedal assisted with the assisted training method supported by the crotch saddle,analyzed the dynamic characteristics of the human body in the completely passive training state,and simplified the 7-limb model of the human body to calculate the completely passive training method.Next step Theplantar pressure during the normal cycle provides reliable data for structural selection and safety evaluation.Then,according to the auxiliary training method determined before,the overall structure of the walking motion bionic robot with effective linkage support at three positions of the hip and the feet is designed,and the connection method of the main components of the mechanical structure is mainly introduced.The system carried out the mechanical principle design and theoretical calculation,obtained the dimensional data of the core member cam mechanism,and further summarized the dimensional calculation method of the matching cam under different kinematic data and different auxiliary rods,thus completing the bionic training mode Stepper structure design.Finally,in order to ensure the safety and reliability of the main and auxiliary strut structure during the training process,the main support structure was subjected to finite element simulation analysis through Hyperworks software,and the lightweight design of the structure was carried out under the requirements of stress and strain.The final finite element analysis results show that this structure has basically completed the original design goals.It should be pointed out that although this article has achieved the design goals to a certain extent and achieved some research results,it is still far from the final clinical application and standardized production,and further design verification is needed.The related walking gait assistance theory should be further studied and improved.