一种新型三自由度下肢康复训练机器人步态机构运动分析及仿真  

Gait Analysis and Simulation of a 3-DOF Rehabilitative Robot

作　　者：张晓超 张立勋[1] 颜庆[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《自动化技术与应用》2005年第3期32-35,共4页Techniques of Automation and Applications

基　　金：国家教委留学回国人员科研启动基金;黑龙江省国际科技合作基金资助 (wc0 31 1 3)

摘　　要：本文针对一种新型三自由度下肢康复训练机器人步态机构 ,建立了运动学方程 ;进行了运动方程解算 ;利用Simulink数学仿真工具进行了运动学仿真 ;根据理论和仿真结果 ,讨论了机构几何参数对步态轨迹的影响 ;仿真结果表明该机构能够模拟步态运动轨迹及脚踝运动姿态 ;分析结果为机构的结构优化设计和控制系统设计提供了必要根据。In this paper, motion analysis and simulation study of the gait mechan ism of a novel 3-DOF lower limb rehabilitative robot are presented. Optimum tra jectory is obtained by solving the motion equation of the gait mechanism. Simulation shows that the trajectory of the footplate depends on the geometry sizes of the mechanism. The novel mechanism is feasible to simulate human's gai t trajectory and the attitude of ankle. The analysis results also provide the es sential data for the further study on structural optimization and the control o f this mechanism.

关 键 词：康复训练机器人 步态 运动学 仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]