平地步行下肢康复外骨骼机械结构设计设计说明书论文.docxVIP

PAGE \* ROMAN PAGE \* ROMAN II 摘要 如今，下肢功能障碍的患者与日俱增，下肢康复治疗的需求也逐渐增多，人工辅助康复治疗效率较低，成本较高，且疗效无法精确评估，国内外出现了许多研究下肢康复机器人的学者。本文创新性的设计了一种采用气动驱动方式的多功能下肢康复训练机器人，该外骨骼具有良好的形态适应性，并且有停驻训练和行走训练两种模式，能够适应不同康复需求的患者。本文的主要工作包括根据截瘫患者术后康复训练相关理论进行下肢康复机器人的基础参数的计算，外骨骼和台架设计，外骨骼的气动驱动关节设计，外骨骼驱动系统以及驱动机构的设计，并对设计的内容进行建模以及工程图的绘制；针对部分负载较大的重要零件进行有限元仿真计算与校核。 关键词：下肢康复机器人 气动驱动 被动行走康复训练 Abstract Nowadays, patients with lower extremity dysfunction are increasing day by day, and the demand for lower extremity rehabilitation treatment is gradually increasing. Artificial assisted rehabilitation treatment is less efficient, costly, and the curative effect cannot be accurately evaluated. Many scholars studying lower extremity rehabilitation robots have appeared at home and abroad. This article innovatively designs a multifunctional lower limb rehabilitation training robot using pneumatic drive. The exoskeleton has a wide range of human body shape adaptability, and has two modes of parking training and walking training, which can adapt to patients with different rehabilitation needs. . The main work includes the calculation of the basic parameters of the lower limb rehabilitation robot based on the relevant theories of postoperative rehabilitation training for paraplegics, the design of exoskeleton and bench, the design of the pneumatic drive joint of the exoskeleton, the design of the exoskeleton drive system and the drive mechanism, and Carry out modeling and drawing of engineering drawings; carry out finite element simulation calculation and verification for some important parts with heavier load. Keywords: Iower limb rehabilitation robot; pneumatic drive; passive walking rehabilitation training III III 目录 摘要 Ⅰ Abstract Ⅱ 第 1 章 绪论 1 课题背景及研究意义 1 国内外研究现状 5 本论文主要研究内容 4 第 2 章 下肢康复机器人总体方案设计 5 引言 5 人体下肢参数以及运动特性 5 人体下肢关节活动角度 5 人体下肢关节驱动力矩 6 人体躯干参数 7 下肢康复训练机器人总体方案 7 设计要求 7 外骨骼总体方案 8 台架总体方案 8 驱动系统总体方案 8 本章小结 9 第 3 章 下肢康复机器人结构设计 10 外骨骼结构设计 10 3.1.2 驱动机构的设计 10 下肢外骨骼长度调节结构设计 12