| 下肢康复训练机器人步态运动机构设计 |
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| 引用本文： | 刘军凯,孙宁,黄美发.下肢康复训练机器人步态运动机构设计[J].机械设计与研究,2006,22(5):59-61,95. |
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| 作者姓名： | 刘军凯 孙宁 黄美发 |
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| 作者单位： | 桂林电子科技大学 机电与交通工程系,广西 桂林 541004 |
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| 摘 要： | 借助于Pro／E软件建立了下肢康复训练机器人步态运动机构的参数化运动学模型，基于对不同参数简化模型的分析，设计了一种步态运动机构，对设计结果进行了运动学仿真，仿真结果表明该机构能够较好地模拟人的实际步态运动，符合下肢康复系统的整体要求。同时得出了实现理想步态运动所需的驱动电机等效速度参数，为进一步的机构控制系统设计提供了必要依据。
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| 关 键 词： | 步态运动 运动学仿真 下肢康复 |
| 文章编号： | 1006-2343（2006）05-059-04 |
| 收稿时间： | 2006-02-08 |
| 修稿时间： | 2006-02-08 |
Design of A Gait Mechanism of A Lower Limbs Rehabilitative Robot |
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| LIU Jun-kai,SUN Ning,HUANG Mei-fa.Design of A Gait Mechanism of A Lower Limbs Rehabilitative Robot[J].Machine Design and Research,2006,22(5):59-61,95. |
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| Authors: | LIU Jun-kai SUN Ning HUANG Mei-fa |
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| Affiliation: | Department of Machinery Electronic and Transportation Engineering, Guilin University of Electronic Technology, Guilin 541004, China |
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| Abstract: | The model of a gait mechanism of a lower limbs rehabilitative robot is built with Pro/E software. Based on the analysis of the simplified model, a gait mechanism is designed. Kinematics simulation is carried out on the gait mechanism, and the simulation results show that this mechanism can simulate human natural gait movement, and accords with robot system's requirement. The rotation rate parameters of motors are obtained to get an ideal gait movement, and these provide essential data for the further study on the control of this mechanism. |
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| Keywords: | gait kinematics simulation lower limb rehabilitation |
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