轮椅助行康复机器人结构设计与运动仿真
首发时间:2016-02-04
摘要:针对偏瘫患者术后初期需要适当进行被动康复训练,本文提出了一种轮椅助行康复机器人,该康复机器人具有轮椅代步、被动步态康复训练及坐起康复训练功能。本文提出了轮椅助行康复机器人的总体设计方案,分别阐述了康复机器人各组成部分的结构设计。运用SolidWorks对机器人进行了三维建模。运用ADAMS建立了摆腿助力机构的虚拟样机模型,并进行运动仿真得到了人体单侧下肢在摆腿助力机构作用下的步态轨迹、髋关节和膝关节转角曲线。与实际情况比较,仿真结果验证了康复机器人结构设计的合理性。
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Structure Design of Wheelchair Walker Rehabilitation Robot and Motion Simulation
Abstract:For hemiplegia patients need proper passive gait rehabilitation training in the early postoperative, a wheelchair walker rehabilitation robot was proposed in this paper. The rehabilitation robot includes three functions: the wheelchair, the passive gait rehabilitation training and sit to stand training. The overall design of the wheelchair walker rehabilitation robot was presented in the paper, and then the components structure design of the robot was described respectively in this paper. The robot three-dimensional model was established in SolidWorks, and the mechanical leg virtual prototype model was created in ADAMS. The single lower limb gait pattern, hip joint angle curve and knee joint angle curve have been obtained through motion simulation. Compared with actual results, the simulation results verified the rationality of the rehabilitation robot structure design.
Keywords: Wheelchair walker Rehabilitation training robot Structure design Motion simulation
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No.4677679113420914****
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