下肢康复训练机器人运动学分析及ADAMS仿真  

Kinematics Analysis and ADAMS Simulation of Lower Limb Rehabilitation Training Robot

作　　者：张军[1] 卞云豪 陶珍钰 梁科 ZHANG Jun;BIAN Yunhao;TAO Zhenyu;LIANG Ke(School of Artificial Intelligence,Anhui University of Science and Technology,Huainan 232001,China;School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学人工智能学院,安徽淮南232001 [2]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《安阳工学院学报》2023年第4期34-42,共9页Journal of Anyang Institute of Technology

基　　金：国家自然科学基金项目(51175005);教育部协同育人项目(202101054003);安徽理工大学研究生核心课程项目(2021HX013)。

摘　　要：近年来,随着经济的发展,人们的生活水平有了显著提高,为了帮助因交通事故造成的下肢功能障碍及因心脑血管疾病导致运动障碍的患者提高康复的效率,设计了一种新型多功能下肢康复训练机器人。对设计的多功能下肢康复训练机器人中辅助站立座椅机构的运动规律进行分析,依据分析结果来检验机构设计是否达到设计的运动轨迹和速度要求,最后通过ADAMS仿真实验与计算的理论值进行比较,从而验证各机构的合理性。In recent years,with the development of economy,people's living standards have significantly improved.To aid patients with lower limb dysfunction caused by traffic accidents and movement disorders resulting from cardiovascular and cerebrovascular diseases,a new multifunctional lower limb rehabilitation training robot has been designed.The motion pattern of the auxiliary standing seat mechanism in the designed robot is analyzed.Based on the analysis results,tests are conducted to determine if the mechanism design meets the required motion track and speed.Finally,the rationality of each mechanism is verified by comparing the ADAMS simulation experiment with the calculated theoretical values.

关 键 词：康复训练机器人 轨迹规划 ADAMS 运动学分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]