三自由度下肢康复机器人动力学建模及仿真研究  

Dynamic Modelling and Simulation of Lower Limbs Rehabilitation Robot with Three Degree-of-Freedom

作　　者：李纬华[1] 孙洪颖[1] 王晓军[1] 

机构地区：[1]广东技术师范学院机电学院,广东广州510635

出　　处：《广东技术师范学院学报》2016年第8期61-66,共6页Journal of Guangdong Polytechnic Normal University

基　　金：广东省公益研究与能力建设项目:精密直线电机ISD201智能伺服驱动器关键技术及产品研发(2014A010104013);广东省应用型研发专项资金项目:工业机器人智能伺服驱控一体化集成装置关键技术研究及应用

摘　　要：针对下肢运动功能障碍的患者,提出一种三自由度的康复机器人设计方案,以实现双下肢髋、膝关节的屈伸训练.采用连杆机构模拟人体下肢,把患肢和机器人作为一个整体,通过驱动机构带动患肢的髋、膝关节进行屈伸运动,实现对患肢的康复训练.利用牛顿-欧拉法建立康复机器人人机系统的动力学模型,并对其康复训练进行了仿真分析.仿真结果说明,利用该动力学模型可以获得训练过程中各关节的受力情况,为制定正确、有效的康复训练策略提供理论依据.For patients with motor skills disorder, a three degree-of-freedom mechanism scheme of rehabilitation robot to achieve the training for hip joint and knee joint with flexion and extension is proposed. The link mechanism is used to imitate the lower limbs, which is combined with the rehabilitation robot as a whole system. The hip joint and knee joint of patients are drove by a control mechanism to bend and stretch, thus providing rehabilitation training for the damaged lower limbs. The dynamical model of the human-robot system is established based on Newton-Euler method, and simulation of rehabilitation training is carried out. The simulation results indicate that the force conditions of each joint during rehabilitation training can be obtained by the dynamical model, which can provide theoretical basis for the proper and efficient rehabilitation exercise strategy.

关 键 词：下肢康复机器人 动力学 牛顿-欧拉法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]