履步康复机器人设计及运动学分析
首发时间:2019-01-25
摘要:为帮助下肢运动障碍的患者进行基于履步康复机器人设计及运动学分析履步式的康复训练,设计一种电机驱动式履步康复机器人。在矢状面内,利用D-H法对履步康复机器人进行运动学建模,得出履步康复机器人在履步康复训练过程中各关节及足部前端在空间中的位姿关系及运动学方程。基于MATLAB对履步康复机器人建立单腿仿真模型,研究其运动过程,得到各关节及足部前端的变量曲线和空间摆动轨迹。研究结果表明:所建立履步康复机器人运动学模型的正确性,其各关节在空间中具有连续的运动轨迹。
关键词: 履步康复机器人 结构设计 运动学 MATLAB 仿真分析
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Design and Kinematic Analysis of Walking Rehabilitation Robot
Abstract:In order to help patients with lower extremity dyskinesia to perform walking-based rehabilitation training, a motor-driven walking rehabilitation robot is designed. In the sagittal plane, the D-H (Denavit-Hartenberg) method is used to establish the kinematics model of the walking rehabilitation robot, and the pose relationship and kinematics equation of the joints and the front end of the foot in the process of step rehabilitation training are obtained. Based on MATLAB, a single-leg simulation model is established for the walking rehabilitation robot, and the motion process was studied to obtain the variable curve and spatial swing trajectory of each joint and foot front end. The results show that the kinematics model of walking rehabilitation robot is correct, and its joints have continuous trajectories in space.????
Keywords: walking rehabilitation robot structural design kinematics MATLAB simulation analysis
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