下肢康复机器人腰部机构的结构设计与运动仿真分析  

Structure Design and Kinematical Simulation Analysis of the Waist Mechanism of Lower Limb Rehabilitation Robot

作　　者：陈成[1] 黄玲[1] 

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《中国医疗设备》2016年第8期26-29,共4页China Medical Devices

摘　　要：本文绘制了下肢康复机器人腰部机构的三维模型,对腰部机构进行了运动学建模和计算,并在机械系统动力学自动分析(ADAMS)软件中对腰部机构作运动学仿真,得到了腰部机构的仿真曲线。通过仿真曲线的分析,表明所设计的腰部机构能够满足下肢康复训练中腰部的运动规律,从而实现人体腰部的位姿控制,也验证了腰部机构结构设计的合理性。The paper drew a three-dimensional model of the waist mechanism of lower limb rehabilitation robot. And the kinematics modeling and calculation of the waist mechanism was also carried out. In the meantime, the kinematical simulation of the waist mechanism was made by using ADAMS（Automatic Dynamic Analysis of Mechanical Systems） so as to obtain the waist mechanism simulation curve. It was showed that the structure design of the waist mechanism could satisfy the movement rule of lower limb rehabilitation training for the waist to realize the position control of the waist through the analysis of the simulation curve. Also, the rationality of structure design of the waist mechanism was verified.

关 键 词：腰部运动 仿真分析 康复机器人 运动学建模 

分 类 号：R496[医药卫生—康复医学] TH112[医药卫生—临床医学]