【摘要】：步行是人類生存和生活的一項必要動作,改善腦卒中患者的步態(tài),使其重新獲得行走能力是康復的一個重要目標�；谶\動再學習理論,針對下肢癱瘓患者早期介入精準步態(tài)康復訓練的需求,設(shè)計了一種新型七桿混聯(lián)臥式下肢康復機器人。本論文在機器人的機構(gòu)方案設(shè)計、尺寸優(yōu)化和機器人步態(tài)規(guī)劃方面進行了深入研究。首先,針對整個康復期的步態(tài)訓練及康復早期的髖關(guān)節(jié)單關(guān)節(jié)訓練的要求,設(shè)計了步態(tài)運動規(guī)律探究實驗,獲得了正常步態(tài)數(shù)據(jù),并提出了一種新型兩自由度七桿混聯(lián)臥式下肢康復機器人設(shè)計方案。該機器人以4R-P型五桿機構(gòu)為主要執(zhí)行機構(gòu),在其連桿上串聯(lián)一平面2R機構(gòu),構(gòu)成混聯(lián)閉鏈機構(gòu),對該機構(gòu)的曲柄單驅(qū)動可實現(xiàn)步態(tài)訓練,對曲柄和滑塊進行混合驅(qū)動可實現(xiàn)髖關(guān)節(jié)訓練。其次,通過運動學分析,驗證所設(shè)計方案的可行性,并得到結(jié)論:足部驅(qū)動式下肢康復機器人若復現(xiàn)下肢關(guān)節(jié)的步態(tài)運動規(guī)律,則要求踝關(guān)節(jié)點的位移及對應(yīng)的速度均需與正常步態(tài)的數(shù)據(jù)一致;基于平面2R串聯(lián)機構(gòu)的工作空間及四桿機構(gòu)的尺度綜合,分析所設(shè)計機構(gòu)的尺度綜合約束條件;以軌跡誤差值最小為優(yōu)化目標,提出基于遺傳-擬牛頓混合算法的四桿機構(gòu)優(yōu)化方法,優(yōu)化得到機器人執(zhí)行機構(gòu)尺寸。最后,針對機器人步態(tài)規(guī)劃關(guān)鍵技術(shù),探求了不同訓練模式下的電機運動規(guī)律;通過人機模型分析,得到下肢關(guān)節(jié)運動曲線;分析關(guān)節(jié)運動數(shù)據(jù),結(jié)果表明:所設(shè)計的機器人能夠?qū)崿F(xiàn)髖關(guān)節(jié)的平穩(wěn)訓練和精準復現(xiàn)人體步態(tài)規(guī)律的訓練,滿足設(shè)計要求。
[Abstract]:Walking is a necessary action for human survival and life. It is an important goal of rehabilitation to improve the gait of stroke patients and reacquire their walking ability. Based on the theory of motor relearning, a new seven-bar hybrid horizontal lower limb rehabilitation robot was designed to meet the needs of early intervention precise gait rehabilitation training for patients with lower extremity paralysis. In this paper, the mechanism design, dimension optimization and robot gait planning are studied. First of all, according to the requirements of gait training during the whole rehabilitation period and the one-joint training of hip joint in the early stage of rehabilitation, the research experiment of gait motion law is designed, and the normal gait data are obtained. A novel two-DOF 7-bar hybrid horizontal lower limb rehabilitation robot is proposed. In this robot, the 4R-P five-bar mechanism is used as the main actuator, and a plane 2R mechanism is connected on the connecting rod to form a hybrid closed-chain mechanism. The single drive of the crank of the mechanism can realize gait training. The training of hip joint can be realized by mixed driving of crank and slider. Secondly, through kinematics analysis, the feasibility of the designed scheme is verified, and the conclusion is drawn: if the foot driven lower limb rehabilitation robot reappears the gait motion law of the lower extremity joint, It is required that the displacement and velocity of ankle joint should be consistent with the data of normal gait, based on the workspace of planar 2R series mechanism and the scale synthesis of four-bar mechanism, the constraint condition of scale synthesis of the designed mechanism is analyzed. With the minimum trajectory error as the optimization objective, an optimization method of four-bar mechanism based on genetic and quasi-Newton hybrid algorithm is proposed to optimize the size of the robot actuator. Finally, aiming at the key technology of robot gait planning, the motor motion law under different training modes is explored; the motion curve of lower extremity joint is obtained by man-machine model analysis; the joint motion data are analyzed. The results show that the designed robot can realize the steady training of hip joint and the training of accurate reappearance of human gait law, which can meet the design requirements.
【學位授予單位】：合肥工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

【參考文獻】

相關(guān)期刊論文 前10條

1 姜禮杰;王勇;高愛麗;;一種康復訓練機器人的機構(gòu)設(shè)計及調(diào)節(jié)方法[J];華中科技大學學報(自然科學版);2015年S1期

2 賈山;韓亞麗;路新亮;徐旭;王興松;;基于人體特殊步態(tài)分析的下肢外骨骼機構(gòu)設(shè)計[J];機器人;2014年04期

3 劉正士;張倩倩;王勇;陳恩偉;;基于五桿機構(gòu)的下肢康復訓練機構(gòu)設(shè)計[J];華中科技大學學報(自然科學版);2013年S1期

4 史小華;王洪波;孫利;高峰;徐震;;外骨骼型下肢康復機器人結(jié)構(gòu)設(shè)計與動力學分析[J];機械工程學報;2014年03期

5 張立勛;秦濤;宋承盈;程勝;;踏板式步行康復機器人樣機研制與實驗研究[J];高技術(shù)通訊;2013年09期

6 張嬌嬌;胡秀枋;徐秀林;;下肢康復訓練機器人研究進展[J];中國康復理論與實踐;2012年08期

7 張通;;中國腦卒中康復治療指南(2011完全版)[J];中國醫(yī)學前沿雜志(電子版);2012年06期

8 陳秀明;劉瑛;魏國榮;候永輝;楊軍靜;焦永波;;早期功能步行訓練對偏癱患者下肢運動功能的影響[J];臨床薈萃;2012年05期

9 張利格;畢樹生;高金磊;;仿人機器人復雜動作設(shè)計中人體運動數(shù)據(jù)提取及分析方法[J];自動化學報;2010年01期

10 李瀛;高慧娟;毛利軍;王丹丹;;減重步行訓練結(jié)合腦功能治療對腦卒中患者步行功能的影響[J];中國康復理論與實踐;2009年07期

，

本文編號：2170163