發(fā)布時(shí)間：2018-08-07 13:28

【摘要】：步行是人類(lèi)生存和生活的一項(xiàng)必要?jiǎng)幼?改善腦卒中患者的步態(tài),使其重新獲得行走能力是康復(fù)的一個(gè)重要目標(biāo)�；谶\(yùn)動(dòng)再學(xué)習(xí)理論,針對(duì)下肢癱瘓患者早期介入精準(zhǔn)步態(tài)康復(fù)訓(xùn)練的需求,設(shè)計(jì)了一種新型七桿混聯(lián)臥式下肢康復(fù)機(jī)器人。本論文在機(jī)器人的機(jī)構(gòu)方案設(shè)計(jì)、尺寸優(yōu)化和機(jī)器人步態(tài)規(guī)劃方面進(jìn)行了深入研究。首先,針對(duì)整個(gè)康復(fù)期的步態(tài)訓(xùn)練及康復(fù)早期的髖關(guān)節(jié)單關(guān)節(jié)訓(xùn)練的要求,設(shè)計(jì)了步態(tài)運(yùn)動(dòng)規(guī)律探究實(shí)驗(yàn),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(fù)機(jī)器人設(shè)計(jì)方案。該機(jī)器人以4R-P型五桿機(jī)構(gòu)為主要執(zhí)行機(jī)構(gòu),在其連桿上串聯(lián)一平面2R機(jī)構(gòu),構(gòu)成混聯(lián)閉鏈機(jī)構(gòu),對(duì)該機(jī)構(gòu)的曲柄單驅(qū)動(dòng)可實(shí)現(xiàn)步態(tài)訓(xùn)練,對(duì)曲柄和滑塊進(jìn)行混合驅(qū)動(dòng)可實(shí)現(xiàn)髖關(guān)節(jié)訓(xùn)練。其次,通過(guò)運(yùn)動(dòng)學(xué)分析,驗(yàn)證所設(shè)計(jì)方案的可行性,并得到結(jié)論:足部驅(qū)動(dòng)式下肢康復(fù)機(jī)器人若復(fù)現(xiàn)下肢關(guān)節(jié)的步態(tài)運(yùn)動(dòng)規(guī)律,則要求踝關(guān)節(jié)點(diǎn)的位移及對(duì)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(jī)構(gòu)的工作空間及四桿機(jī)構(gòu)的尺度綜合,分析所設(shè)計(jì)機(jī)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(biāo),提出基于遺傳-擬牛頓混合算法的四桿機(jī)構(gòu)優(yōu)化方法,優(yōu)化得到機(jī)器人執(zhí)行機(jī)構(gòu)尺寸。最后,針對(duì)機(jī)器人步態(tài)規(guī)劃關(guān)鍵技術(shù),探求了不同訓(xùn)練模式下的電機(jī)運(yùn)動(dòng)規(guī)律;通過(guò)人機(jī)模型分析,得到下肢關(guān)節(jié)運(yùn)動(dòng)曲線;分析關(guān)節(jié)運(yùn)動(dòng)數(shù)據(jù),結(jié)果表明:所設(shè)計(jì)的機(jī)器人能夠?qū)崿F(xiàn)髖關(guān)節(jié)的平穩(wěn)訓(xùn)練和精準(zhǔn)復(fù)現(xiàn)人體步態(tài)規(guī)律的訓(xùn)練,滿足設(shè)計(jì)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(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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