摘要
五连杆机构作为一种特殊的运动机构,有着丰富的运动特点,结合临床康复医学理论对下肢康复机器人方案进行研究,设计了一种针对下肢偏瘫患者的双曲柄对称五连杆康复训练器,推导了五连杆的运动学解析式,通过建立数学运动模型,用Matlab进行仿真,仿真结果表明通过调整该机构两曲柄的相位差或机架的倾角来能实现输出点的运动轨迹的变化,从而达到调整髋关节和膝关节运动范围或最大值的目的,证明了此款下肢康复训练机器人可以满足不同康复阶段的患者的使用需求。
Five-link as a special motion mechanism, has a wealth of sports features, and combined with the theory of clinical rehabilitation of lower limb rehabilitation robot scheme to study the lower extremity rehabilitation robot program, and it designed one kind of training aids that was double crnnk symmetrical five-link rehabilitation for lower extremity hemiplegia, derived the formula of five-link kinematic analytical, and through the establishment of the mathematical motion model and emulated with Matlab. Simulation results show that by adjusting the phase difference of the institutional crank or the inclination of the rack it can achieve the variation of the output point of the trajectory. So as to achieve the purpose of adjusting the hip and knee joint range of motion or maximum.lt proves that the use of this lower limb rehabilitation training robot to meet the different stages of rehabilitation patients demand.
出处
《机械设计与制造》
北大核心
2014年第4期156-158,161,共4页
Machinery Design & Manufacture
基金
科技部创新基金(11C26213402042)
国家自然科学基金(41076061
40876052)
关键词
下肢康复
机器人
对称五连杆
仿真
Lower Limb Rehabilitation
Robot
Symmetrical Five-Link
Simulation
