穿戴式下肢康復機器人的研究.pdf

1、哈爾濱工程大學碩士學位論文穿戴式下肢康復機器人的研究姓名：趙豫玉申請學位級別：碩士專業(yè)：機械電子工程指導教師：張立勛20090301哈爾濱工程大學碩士學位論文AbstractRehabilitativerobottechnologyanewly—developedtechniqueinrecentyears，iSanewapplicationinmedicalfieldsIthasmadegreatachievementwithinse

2、veraldecadesofdevelopmentTheoverseasrehabilitativerobotresearchisquitedevelopedSincethestudyinthefieldofrehabilitationengineeringinOUrcountryisinchoate，theresearchispracticalThestudyinthispaperiSthewearablelowerlimbsreha

3、bilitativerobot，whichiSakindofrehabilitativerobotItcanbefixedonthehumanbodyanddrivenbytheactuatortowalkaSanormalpersonandmakethepatientsdowalkingexercisesandthedisabledwitllmotionobstaclestorecovernepaperdescribesthecurr

4、entdevelopmentstatusandapplicationoftherehabilitationrobotdomesticandabroadauswellasthefuturedevelopmentofthekeytechnologiesTheninthispaperthemechanismofpeople’Slowerlimbsandthegaitareresearched，basedonwhichoverallprogra

5、misdesigned，includingoverallstructureandcontrolprogramWbalsodeterminedthespecificrobot—drivenapproachandthereaSonablesizeofthevariouspartsThenthemechanicalstructureisdesignedindetailandthemechanismmodelisestablishedAsthe

6、needofthedesign，wesimplifiedthefreedomsofthelowerlimbsThensettingupcoordinatevarymatrixwithDHmethod，anddeducingthedirectandinversekeysofitskinematicsfunctionUsingSimulinkandSimMechanicstoolboxinMATLABtocarryonthesimulati

7、ngresearchofkinematicswhichshowsthekinematicsanalysisiSworkableandcorrectOnthebaseofthekinematicmodelweestablishedthedynamicmodelbytheaccessionofthequalitycenterofmassandinertiaofthelowerlimbAccordingtothesimulationsolut

8、ionofthedynamics，wegottheforceandspeedcurvesofthedrivemechanism，whichofferedthetheoreticalbasisforthechooseofthemotorandtransmissionradioAftergettingtheparametersofthedrive，theservocontrolsimulationmodelofthejointwasesta