摘要
文章针对下肢功能障碍康复机器人的水平滑块调节机构,建立其基于四杆机构的人-机模型;通过解析法得出调节滑块水平距离在已知关节运动规律下的运动方程;运用静力学和动力学原理对模型中的曲柄部分进行了状态分析,并通过ADAMS进行运动学和动力学的仿真,得到调节水平距离对人体下肢关节变化、足底受力和电机转矩的影响。该文验证了所设计机构的合理性,并给出了康复训练指导建议。
A human-machine model based on four-bar mechanism is established for the horizontal slider adjustment mechanism of the lower limb dysfunction rehabilitation robot. The motion equation of the horizontal distance of adjusting slider is obtained by the analytical method under the known joint motion. The analysis of the crank part in the model is carried out by the principle of statics and dynamics. The effects of adjusting the horizontal distance on the changes of lower limb joints, the force of the foot and the torque of the motor are obtained through the ADAMS kinematics and dynamics simulation. The rationality of the design is verified and the advice of rehabilitation training is also given.
作者
张彦
汤必强
ZHANG Yan;TANG Biqiang(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China;Intelligent Manufacturing Institute,Hefei University of Technology,Hefei 230051,China)
出处
《合肥工业大学学报（自然科学版）》
CAS
北大核心
2019年第12期1615-1619,1624,共6页
Journal of Hefei University of Technology：Natural Science
基金
科技型中小企业创新基金资助项目(11C26214402042)
关键词
下肢康复机器人
四杆机构
运动学分析
动力学分析
ADAMS仿真
lower limb rehabilitation robot
four-bar mechanism
kinematics analysis
dynamic analysis
ADAMS simulation
