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下肢康复机器人是具有自动化功能的康复治疗设备,患者在科学合理的康复训练条件下,可使其下肢的运动功能得到良好的恢复。为了增大下肢康复机器人的康复训练工作空间和承载能力,对康复机器人的静力学分析尤为重要。提出了一种以3-UPS并联机构作为机构原型的下肢康复机器人,基于虚功原理,建立了下肢康复机器人驱动力和输出力的静力学方程,定义了静力学性能评价指标并绘制了评价指标分布图,分析了结构参数与静力评价指标之间的关系,确定结构参数对静力学性能的影响情况,并基于结构参数设计了下肢康复机器人。分析结果为下肢康复机器人的进一步分析研究奠定了基础。
Lower limb rehabilitation robot is an automated rehabilitation treatment equipment, patients under the condition of scientific and reasonable rehabilitation training, can make its lower limb motor function was well restored. In order to increase the rehabilitation training work space and carrying capacity of lower limb rehabilitation robots, static analysis of rehabilitation robots is particularly important. Based on the principle of virtual work, a static mechanical equation of driving force and output force of lower limb rehabilitation robot is established, and the statistic indexes of statics performance are defined and the evaluation indexes Distribution, the relationship between structural parameters and static evaluation indexes is analyzed, the influence of structural parameters on static mechanical properties is analyzed, and the lower limb rehabilitation robot is designed based on structural parameters. The analysis results laid the foundation for the further analysis and research of lower limb rehabilitation robot.