發(fā)布時(shí)間：2018-06-02 06:38

  本文選題：下肢康復(fù)訓(xùn)練 + 機(jī)構(gòu)分析　； 參考：《蘇州大學(xué)》2015年碩士論文

【摘要】：當(dāng)前隨著社會(huì)的發(fā)展,人口結(jié)構(gòu)的老齡化趨勢逐漸加重,老齡化逐漸成為一個(gè)社會(huì)化的問題。老年人容易罹患心血管疾病和神經(jīng)系統(tǒng)疾病,這類患者多伴有偏癱癥狀和下肢運(yùn)動(dòng)障礙。早期的手術(shù)治療和藥物治療固然重要,但后期的下肢康復(fù)訓(xùn)練對于下肢運(yùn)動(dòng)能力的恢復(fù)更為重要。下肢康復(fù)訓(xùn)練機(jī)器人的研究,對于節(jié)約人工成本,提高下肢康復(fù)訓(xùn)練效果具有重要意義。然而,現(xiàn)有的下肢康復(fù)訓(xùn)練機(jī)器人還存在著一些問題,一些結(jié)構(gòu)簡單的下肢康復(fù)訓(xùn)練機(jī)器人,功能單一,康復(fù)效果受限;另一些結(jié)構(gòu)復(fù)雜的下肢康復(fù)訓(xùn)練機(jī)器人,造價(jià)昂貴,控制系統(tǒng)復(fù)雜,缺乏經(jīng)濟(jì)性。為實(shí)現(xiàn)結(jié)構(gòu)簡單,控制方便的目的,本課題研制了一種床式下肢康復(fù)訓(xùn)練機(jī)器人。首先,本文針對下肢康復(fù)訓(xùn)練機(jī)器人,了解分析了國內(nèi)外現(xiàn)有下肢康復(fù)訓(xùn)練機(jī)器人,并對人體行走下肢運(yùn)動(dòng)機(jī)理和人體行走時(shí)下肢關(guān)節(jié)運(yùn)動(dòng)學(xué)關(guān)系進(jìn)行研究,再基于人體行走下肢關(guān)節(jié)角度數(shù)據(jù)和人體行走下肢關(guān)節(jié)運(yùn)動(dòng)學(xué)關(guān)系對下肢康復(fù)訓(xùn)練機(jī)器人機(jī)械結(jié)構(gòu)的擬人化設(shè)計(jì)。然后,本文在下肢康復(fù)訓(xùn)練機(jī)器人機(jī)構(gòu)設(shè)計(jì)與運(yùn)動(dòng)學(xué)建模和基于關(guān)節(jié)軌跡與映射關(guān)系的康復(fù)訓(xùn)練機(jī)構(gòu)結(jié)構(gòu)參數(shù)優(yōu)化兩方面對機(jī)器人進(jìn)行深入分析。下肢康復(fù)訓(xùn)練機(jī)器人機(jī)構(gòu)設(shè)計(jì)與運(yùn)動(dòng)學(xué)建模方面,通過構(gòu)型分析,設(shè)計(jì)了一種多連桿結(jié)構(gòu)。建立康復(fù)訓(xùn)練床體的上升、翻轉(zhuǎn)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)動(dòng)力學(xué)模型,分析了床體的運(yùn)動(dòng)關(guān)系和承載能力。還建立了多連桿下肢康復(fù)訓(xùn)練器的運(yùn)動(dòng)學(xué)模型,分析得到多連桿下肢康復(fù)訓(xùn)練器的左右髖、膝關(guān)節(jié)角度。下肢多連桿康復(fù)訓(xùn)練器結(jié)構(gòu)參數(shù)優(yōu)化方面,分析了結(jié)構(gòu)參數(shù)對關(guān)節(jié)軌跡與映射關(guān)系的影響,建立了基于關(guān)節(jié)軌跡與映射關(guān)系復(fù)現(xiàn)性的機(jī)構(gòu)評價(jià)指標(biāo)研究,最后對機(jī)器人的結(jié)構(gòu)參數(shù)進(jìn)行了優(yōu)化分析,確定了一組最優(yōu)的結(jié)構(gòu)參數(shù)。建立了多連桿下肢康復(fù)訓(xùn)練器的動(dòng)力學(xué)模型,分析了訓(xùn)練機(jī)構(gòu)所需要的關(guān)節(jié)轉(zhuǎn)矩,為同步帶輪、同步帶選型,電機(jī)和直角減速器的選型提供依據(jù)。最后,本文建立了實(shí)驗(yàn)系統(tǒng),對機(jī)器人樣機(jī)的系統(tǒng)性能進(jìn)行測試,包括床體的上升高度范圍,床體的翻轉(zhuǎn)角度范圍,多連桿下肢康復(fù)訓(xùn)練器的關(guān)節(jié)角度,這些指標(biāo)進(jìn)行了實(shí)驗(yàn)測定。實(shí)驗(yàn)證明,所設(shè)計(jì)的機(jī)器人是可行的,滿足最初的設(shè)計(jì)指標(biāo)和實(shí)際康復(fù)訓(xùn)練需求。本文研制的床式下肢康復(fù)訓(xùn)練機(jī)器人,具有重力負(fù)載可調(diào)的康復(fù)訓(xùn)練床體,以及多連桿下肢康復(fù)訓(xùn)練器。康復(fù)床體由兩個(gè)線性致動(dòng)器驅(qū)動(dòng),使上床體能夠水平上升或下降一定高度、能夠由水平到豎直任意角度翻轉(zhuǎn)。左右多連桿下肢康復(fù)訓(xùn)練機(jī)構(gòu)僅由一個(gè)電機(jī)驅(qū)動(dòng),能夠模擬人體的正常步態(tài)運(yùn)動(dòng)。該機(jī)器人具有結(jié)構(gòu)簡單、控制方便,經(jīng)濟(jì)性好等優(yōu)點(diǎn)。
[Abstract]:At present, with the development of society, the aging trend of population structure becomes more and more serious, and aging becomes a socialized problem. Older people are prone to cardiovascular and nervous system diseases with hemiplegic symptoms and motor disorders of the lower extremities. Early surgical treatment and drug therapy are important, but later rehabilitation training is more important for the recovery of lower extremity motor ability. The research of lower limb rehabilitation training robot is of great significance for saving labor cost and improving the effect of lower limb rehabilitation training. However, there are still some problems in the existing lower limb rehabilitation training robots. Some of the lower limb rehabilitation training robots with simple structure have a single function and limited rehabilitation effect. The control system is complex and lacks economy. In order to realize the purpose of simple structure and convenient control, a kind of bed-type lower limb rehabilitation training robot is developed in this paper. Firstly, aiming at the lower limb rehabilitation training robot, this paper analyzes the existing lower limb rehabilitation training robot at home and abroad, and studies the movement mechanism of human lower limb and the kinematics relationship of lower extremity joint during human walking. Based on the angle data of the lower limb joint and the kinematics relationship of the lower limb joint, the anthropomorphic design of the mechanical structure of the lower limb rehabilitation training robot is proposed. Then, the mechanism design and kinematics modeling of the lower limb rehabilitation training robot and the optimization of the structural parameters of the rehabilitation training mechanism based on the joint trajectory and mapping relationship are analyzed in this paper. In the aspect of mechanism design and kinematics modeling of lower limb rehabilitation training robot, a multi-link structure is designed through configuration analysis. The kinematics and dynamics model of the rising and flipping mechanism of the bed body was established, and the motion relationship and bearing capacity of the bed body were analyzed. The kinematic model of multi-link lower limb rehabilitation trainer was established, and the angle of left and right hip and knee joint of multi-link lower limb rehabilitation trainer was obtained. In the aspect of structural parameter optimization of lower limb multi-link rehabilitation trainer, the influence of structural parameters on joint trajectory and mapping relationship is analyzed, and a mechanism evaluation index based on joint trajectory and mapping relationship is established. Finally, the structural parameters of the robot are optimized and a set of optimal structural parameters are determined. The dynamic model of multi-link lower limb rehabilitation training device is established, and the joint torque required by the training institution is analyzed, which provides the basis for the selection of synchronous belt wheel, synchronous belt type, motor and right-angle reducer. Finally, an experimental system is established to test the system performance of the robot prototype, including the rising height range of the bed body, the turning angle range of the bed body, and the joint angle of the multi-link lower limb rehabilitation trainer. These indexes were measured experimentally. Experimental results show that the designed robot is feasible and meets the initial design targets and actual rehabilitation training needs. In this paper, a bed type lower limb rehabilitation training robot with adjustable gravity load and multi-link lower limb rehabilitation training machine is developed. The recovery bed body is driven by two linear actuators, which enables the upper bed body to rise or decrease a certain height horizontally and flip from horizontal to vertical at any angle. The rehabilitation training institution of left and right multi-link lower limbs is only driven by one motor, which can simulate the normal gait movement of human body. The robot has the advantages of simple structure, convenient control and good economy.
【學(xué)位授予單位】：蘇州大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：R496;TP242

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本文編號：1967790