Research On Structure Design And Simulation Of Lower Limb Exoskeleton Rehabilitation Robot

The lower limb exoskeleton rehabilitation robot is a wearable device designed for the elderly or disabled people with walking obstacles.This device is mainly used in the medical field,and aims to provide assisted walking and rehabilitation training for patients.With the acceleration of population aging in recent years and the increasing number of patients with dyskinesia caused by various diseases,traditional manual or simple medical equipment can not meet the rehabilitation needs for patients.The application of lower extremity exoskeleton rehabilitation robot has effectively solved the current problem.This thesis mainly studies the lower extremity exoskeleton rehabilitation robot from the aspects of structural design and control simulation.The main research contents are as follows:By analyzing the skeletal structure,movement mechanism and walking gait of the human lower limbs,based on the anthropomorphic principle,the overall size of the exoskeleton robot was determined,the exoskeleton configuration scheme was designed,and determined the exoskeleton robot to drive joints and drive method.The Solidworks software was used to build a virtual prototype for the exoskeleton robot.The structural design was based on the human body size.Considering the safety of the structure,the workbench was used to perform the finite element static analysis of the most stressed single-leg support.Simulated the stress and deformation of the hip and knee joints at different angles.The D-H method was used to analyze the kinematics of the exoskeleton,and the astigmatism of the distal ankle was solved by MATLAB software.The skeletal dynamics was analyzed by the Lagrangian method,and the dynamic equation was derived.The object applied to the exoskeleton robot was based on hemiplegia.The gait characteristics were used to fit the hip and knee angle curves suitable for disabled patients,and the ADAMS-based exoskeleton man-machine wear simulation model was established.The kinematics and dynamics simulation analysis was performed to obtain the lower limb ankle trajectory curve and the exoskeleton walking displacement.The hip and knee joint torque curves were analyzed to verify the rationality of structural design,drive selection and gait parameters by analyzing the walking gait characteristics of exoskeleton robots.According to the motion control characteristics of exoskeleton rehabilitation robot,a joint simulation platform based on Simulink and ADAMS is built.Based on PID control,fuzzy control is introduced,and joint simulation control of exoskeleton rehabilitation robot based on PID control and fuzzy PID control is established respectively.The trajectory tracking curves of the two control algorithms are obtained.The results show that the fuzzy PID control has better control effect.