【作者】 颜庆；

【导师】 张立勋；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2004， 硕士

【摘要】 康复训练机器人技术是近年来迅速发展起来的一门新兴技术,是机器人技术在医学领域的新应用。下肢康复训练机器人是其中的一种,它可以模拟正常人的行走姿态,对下肢有运动障碍的病人进行下肢康复训练。本课题的主要研究内容是下肢康复训练机器人的机构仿真和设计、控制系统设计和实验研究。 本文介绍了康复训练机器人的国内外发展现状和应用情况,提出了下肢康复训练机器人的总体方案设计;运用MATLAB中的机构系统模块集(SimMechanics Blockset)分别对步态机构和姿态机构进行机构建模和仿真,找出适合正常人行走轨迹的机构参数,为机器人的控制系统提供必要的理论依据和参数。 根据仿真分析的结果,研制下肢康复训练机器人的步态和姿态控制系统,设计机器人的步态电机驱动与控制电路、姿态电机驱动与控制电路、串行通讯电路、编码器接口等硬件电路,开发基于AVR单片机汇编语言的下位机控制软件和基于VC++6.0的上位机用户操作界面。 介绍了下肢康复训练机器人的实验情况。研制了机器人实验样机,进行了硬件电路实验和系统性能实验,实验证明本康复训练机器人的机构和控制系统达到了设计要求,具有良好的康复训练效果。更多还原

【Abstract】 Rehabilitative robot is a new technology that has been developed rapidly in recent years, that represents the robots application in the medical field. Lower limbs rehabilitative robot is one kind of the reha robot. Lower limbs rehabilitative robot can simulate the motion of normal human’s walking gesture and give the patients rehabilitative training to help them recover from illness. The main research of this paper includes the structure design, mechanism simulation, control system design and experiment with the prototype.The paper systematically overviews the developing situation of Rehabilitative robot, and puts forward the overall structure scheme for Lower limbs rehabilitative robot. In the paper the kinematics models and the kinematical analysis of the lower limbs rehabilitative robot are introduced concisely. On this foundation, using SimMechanics Blockset of MATLAB simulates the gait mechanism and gesture mechanism to get the mechanism parameters to adapt the normal human being’s stepping. The simulation provides the theoretic basis of optimization designing.Through the simulation the control system for controlling gait and gesture equipments have been developed for the lower limbs rehabilitative robot. The paper studies and designs the circuit driving the servomotors, the serial communication circuit, and the encoder input circuit etc. The embedded controller software based on the AVR assembly language and the user interface software based on VC++6.0 have been developed for the robot’s control system.At the end of this paper it introduces the experiment with the lower limbs rehabilitative robot prototype. Experiment results indicate that the machinery and control system of the lower limbs rehabilitative robot reach the design request, and this robot has good rehabilitative effect.更多还原