下肢康复床椅机器人设计与分析  

Design and Analysis of Lower Limb Rehabilitation Bed Chair Robot

作　　者：孙猛 张军[1] 齐潘 余志强 SUN Meng;ZHANG Jun;QI Pan;YU Zhiqiang(School of Artificial Intelligence,Anhui University of Science and Technology,Huainan Anhui 232001,China;School of Mechanical Engineering,Anhui University of Science and Technology,Huainan Anhui 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：《佳木斯大学学报(自然科学版)》2025年第1期10-15,共6页Journal of Jiamusi University:Natural Science Edition

基　　金：国家自然基金资助项目(51175005)。

摘　　要：针对国内老龄化问题加剧及因事故下肢运动障碍患者的逐年增多等问题,设计一款可以在医院和家庭等多场所使用的下肢康复床椅机器人,运用SolidWorks软件建立了该机器人的三维模型,并对机器人整体及各模块的结构进行详细设计,建立支背机构电动推杆的运动学和动力学模型,对运动过程中的各参数进行理论计算,借助MATLAB软件得到理论曲线,并利用ADAMS软件实现了虚拟样机仿真曲线。通过理论计算与仿真模拟的相互验证,结果验证了下肢康复床椅机器人模型建立的准确性,为电动推杆的设计选型提供了依据。[WTBZ]Aiming at the aggravation of the aging problem in China and the increasing number of patients with lower limb movement disorder due to accidents,we designed a lower limb rehabilitation bed chair robot that can be used in many places such as hospitals and families.We used SolidWorks software to establish a three-dimensional model of the robot,and carried out a detailed design of the overall structure of the robot and the structure of each module.The kinematics and dynamics model of the electric push rod of the support mechanism is established,and the parameters in the motion process are calculated theoretically.The theoretical curve is obtained by MATLAB software,and the virtual prototype simulation curve is realized by ADAMS software.Through the mutual verification of theoretical calculation and simulation,the results verify the accuracy of the lower limb rehabilitation bed chair robot model,and provide a basis for the design and selection of electric push rod.

关 键 词：下肢康复床椅机器人 结构设计 运动学分析 动力学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]