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哈爾濱工程大學本科生畢業(yè)論文 摘 要 康復機器人技術則是近年來迅速發(fā)展的一門新興機器人技術，是機器人 技術在醫(yī)學領域的新應用；目前康復機器人已成為國際社會研究的熱點之一。 本課題主要研究的基于姿態(tài)控制步態(tài)康復訓練系統(tǒng)的設計。 本文介紹了下肢康復機器人國內(nèi)外發(fā)展現(xiàn)狀和應用情況，進行了步態(tài)訓 練機器人的總體方案設計、結構設計，和總體控制方案設計等；對步態(tài)訓練 機器人進行三維建模，并對重要零件進行校核。本步態(tài)訓練機器人共有 7 個 自由度，其中每一條機械腿上有 3 個關節(jié)（3 個自由度）模仿人體腿上的踝 關節(jié)、膝關節(jié)、髖關節(jié)和一個用于減重的減重系統(tǒng)（包括 1 個自由度） 。此 系統(tǒng)能用于腦損傷、中風等病人的步態(tài)康復訓練，幫助病人更好地進行康復 訓練，減輕他人的幫助，挺高效果。 關鍵詞：康復訓練；機器人；步態(tài) 哈爾濱工程大學本科生畢業(yè)論文 ABSTRACT The rehabilitation robot technology is a new robot technology developed rapidly recently, which is a new application in medical fields of robot technology. Currently the research on rehabilitation robot has been one of the focuses in the International Society. The rehabilitation robot technology is a synthesis of many subjects, which covers mechanics, electronics, control and rehabilitative medicine and so on; it has been a typical representation of the mechatronics research. The main research of this paper is based on the attitude control gait rehabilitation training system design. In this paper, lower extremity rehabilitation and development of robot applications at home and abroad, a gait training robot's overall programme design, structural design, design and overall control; gait training on the robot for three- dimensional modeling, and important parts to check. The robot gait training has a total of seven degrees of freedom, each of which a mechanical leg joints have three (3 DOF) to imitate human leg ankle, knee, hip and a weight relief for weight relief system (including a degree of freedom). The system can be used for brain injury, stroke, and to help patients better rehabilitation training, and meets.the needs of different groups of people. Key words：rehabilitation training; robot; gait 哈爾濱工程大學本科生畢業(yè)論文 目 錄 第 1 章 緒論 .......................................................................................1 1.1 概述 .....................................................................................................1 1.2 康復機器人的國內(nèi)外研究現(xiàn)狀 .........................................................2 1.3 本課題主要研究內(nèi)容 .........................................................................7 第 2 章 總體方案設計與選擇的論證 .......................................................8 2.1 步態(tài)分析 .....................................................................................................8 2.2 方案的選擇 ...............................................................................................11 2.2.1 自由度的設計 .....................................................................................13 2.2.2 基本參數(shù)的選取 .................................................................................13 2.2.3 驅(qū)動器的選擇 .....................................................................................14 2.2.4 關節(jié)結構的選擇 .................................................................................14 2.2.5 連桿結構的選擇 .................................................................................14 2.2.6 腰部結構設計 .....................................................................................15 2.2.7 減重機構 .............................................................................................15 2.2.8 整體結構設計 .....................................................................................16 2.3 本章總結 ...................................................................................................16 第 3 章 機械結構的設計與計算及驅(qū)動元件選型 ..............................17 3.1 人體參數(shù) ...................................................................................................17 3.2 各關節(jié)運動學分析 ...................................................................................17 3.2.1 踝關節(jié)的運動學分析 ............................................................................18 3.2.2 膝關節(jié)的運動學分析 ...........................................................................18 3.2.3 髖關節(jié)的運動學分析 ...........................................................................19 3.3 關節(jié)力矩分析 ...........................................................................................20 3.4 具體結構設計 ...........................................................................................21 3.4.1 關節(jié)結構的選擇 .................................................................................21 3.4.2 連桿結構的選擇 .................................................................................22 3.4.3 腰部結構設計 .....................................................................................23 3.4.4 減重機構 .............................................................................................23 3.4.5 整體結構設計 .....................................................................................24 哈爾濱工程大學本科生畢業(yè)論文 3.5 一些零件的設計和校核 ...........................................................................25 3.5.1 軸承的選擇及校核 ...............................................................................25 3.5.2 氣缸的選擇 ...........................................................................................25 3.5.3 連桿的計算與校核 ...............................................................................27 3.5.4 銷軸的校核 ...........................................................................................29 3.5.5 雙頭螺柱的校核 ...................................................................................30 3.5.6 傳感器的選取 .......................................................................................30 3.6 減重系統(tǒng)分析及相關計算 .......................................................................31 3.7 本章小結 ...................................................................................................32 第 4 章 供氣與控制系統(tǒng)的設計 ..............................................................33 4.1 供氣系統(tǒng)的設計 .......................................................................................33 4.1.1 供氣回路設計 .....................................................................................33 4.1.2 氣動元件的選擇 .................................................................................34 4.2 康復機器人的訓練方式 ...........................................................................39 4.3 氣動自動控制方框圖 ...............................................................................39 4.4 本章小結 ...................................................................................................40 結 論 .............................................................................................................41 參考文獻 .............................................................................................................42 致 謝 .............................................................................................................45