【作者】 陈波；

【导师】 王勇；

【作者基本信息】 合肥工业大学 ， 机械工程（专业学位）， 2017， 硕士

【摘要】 人口老龄化、脑卒中以及伤残等因素使得肢体运动功能障碍者人数逐年增多,康复需求日益增长,康复机器人作为一种能够代替人类从事重复、繁重的康复护理工作的装置,因此具有广阔的应用前景。本文在分析国内外下肢康复机器人的基础上,结合等速康复训练理念,设计一种可实现膝关节等速运动的康复训练机构,具体工作如下:首先,分析国内外下肢康复机器人研究发展现状,发现该领域的研究主要侧重于轨迹训练,较少涉及等速训练,而等速运动是一种兼具等张和等长运动优点的运动形式,对于弱肌力的康复患者,具有良好的肌力提升效果,因此研制一种可实现等速训练的下肢康复训练机构具有一定的实用价值。其次,根据人体下肢的生理结构、主要关节活动度,明确下肢康复机器人的设计要求。再将人机系统有效融合,根据杆件与人体的映射关系,设计了一种4R-P连杆机构的等速训练机构,并对机构的运动特性进行计算。然后,应用D-H法建立4R-P康复训练机构连杆坐标系,推导出运动学方程,依据预先设置曲柄及膝关节的运动规律,逆解出机构的运动学驱动规律。在运动学基础上,建立机构动力学方程,逆解出曲柄及滑块的驱动力。分析不同人体身高、坐高、曲柄长度对机构的运动学和动力学驱动规律的影响,从而确定训练机构的适应人群以及坐高、曲柄长度的合理取值范围。最后,基于ADAMS建立虚拟人机模型,导入运动学和动力学驱动规律,测量膝关节的角位移、角速度,从而验证该机构膝关节等速训练的可行性,为下一步样机的研制奠定基础。更多还原

【Abstract】 With the deepening of the aging population and expanding of physical disabled population caused by frequent occurrence of various natural disasters,war,traffic accidents and diseases,the demand for rehabilitation are growing constantly.Rehabilitation robot can replace human beings to carry out repetitive and strenuous rehabilitation nursing work,which has the advantages of good stability and high efficiency.In this thesis,based on the analysis of the rehabilitation robot at home and abroad,combined with the principle of constant velocity motion,a kind of knee isokinetic exercise mechanism was proposed:Firstly,this thesis summarized the domestic and foreign research and development status of rehabilitation of lower limb rehabilitation robot,and found the study of this field are mainly in track training,less involved in isokinetic exercise,isokinetic exercise has the advantages of isotonic and isometric exercise both,which can promote effect for the rehabilitation of weak muscle strength patients.Therefore,it is necessary to develop a kind of lower limb rehabilitation training robot which can realize isokinetic exercise.Secondly,this thesis analyzed the physiological structure of the lower limb and mobility of the lower limb joints.Based on the 4R-P linkage mechanism,the mapping relation between the rod and the physical entity was determined.Thirdly,the D-H method was used to establish the coordinate system of the 4R-P type linkage mechanism,and the kinematics equation was deduced,and the motion law of the crank and knee joint was designed.The kinetic equation was established by using the kinetic energy theorem,and the dynamic input of the linkage mechanism was solved.Univariate analysis was performed for the influence of different lower limb size parameters,sitting height,length of crank kinematics on dynamics input,the adaptability of isokinetic exercise for different groups was determined,the reasonable range of sitting height and the length of the crank were defined.Finally,a virtual man-machine based on ADAMS was established,the kinematics and dynamics motion law was imported to make man-machine model work,The angular displacement and angular velocity of knee joint was measured to verify the feasibility of knee isokinetic exercise mechanism,and lay a foundation for development of prototype in the future.更多还原