【作者】 王志忠；

【导师】 董玉红；

【作者基本信息】 哈尔滨理工大学 ， 机械电子工程， 2010， 硕士

【摘要】 随着科学技术的发展和人民生活水平的提高,和世界很多国家一样,中国正在步入一个交通繁杂的老龄化社会,偏瘫正在困扰着越来越多的家庭。医学理论和临床医学证明,偏瘫患者除了早期的手术治疗和必要的药物治疗外,正确的、科学的康复训练对于肢体运动功能的恢复和提高起到非常重要的作用。康复机器人作为一种自动化康复医疗设备应运而生,康复机器人的研究也受到了越来越多人的关注。本文介绍了康复训练机器人的国内外发展现状以及应用情况,首先,通过对前人研究成果的分析得出了人在行走过程中重心的运动情况,包括重心的轨迹、移动的速度和加速度,然后对助行训练机器人的机械结构进行了设计,、提出了一种新的重心控制机构,以一种新的方式将其与重力补偿机构进行了结合,下肢方面,利用杆机构模仿人腿的行走过程,从仿生学的角度对人行走过程中大腿和小腿之间的关系进行了模仿。最后,对整个机构进行了控制仿真和关键部位的强度仿真分析,以及控制系统的硬件电路设计。本文完成了助行训练机器人的机构设计,对关键部件进行了力学分析,对下肢控制机构进行了运动学仿真,并对控制系统的硬件电路和软件流程进行了设计,为下一步的实验研究奠定了基础。更多还原

【Abstract】 As the development of science and technology and the elevations of people’s living standards, as many countries in the world,China is entering a trafic conplicated aging society, hemiplegia is troubling more and more families. Medical theories and clinical evidence, for patients with hemiplegia, the correct and scientific training for the rehabilitation of limb motor function recovery and improve is very important, in addition to the early surgical treatment and necessary medical treatment. as an automated recovery of medical equipment,rehabilitation robot came into being, the atteation to rehabilitation robotics research is also growing.The thesis describes the development of rehabilitation training robot at home and abroad as well as the status of the application, first of all, through the analysis of previous research results obtained the moving status of barycenter thought the walking movement, including the trajectory of barycenter, moving speed and acceleration, and then the training walker robot’s mechanical structure has been designed, proposed a new mechanical structure to control the barycenter, combined it with the gravity compensation system in a new way. for the lower limb, imitate the linkage of human leg-bar in walking process in use of bar mechanism, the relationship between the thigh and calf in human walking process were imitated from the perspective of bionics. Finally, simulation the control of the entire institution, simulation and analysis of the intensity for the key parts, and control system hardware circuit design.This thesis researched the design of training walker robot’s body, made mechanical analysis of the key components and kinematics simulation for the lower limb control agencies, designed the control system hardware circuit and software processes, all of which provided foundation.for the further experiment and study.更多还原