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哈爾濱工程大學(xué)本科生畢業(yè)論文 摘 要 康復(fù)機(jī)器人技術(shù)則是近年來迅速發(fā)展的一門新興機(jī)器人技術(shù)，是機(jī)器人 技術(shù)在醫(yī)學(xué)領(lǐng)域的新應(yīng)用；目前康復(fù)機(jī)器人已成為國際社會研究的熱點(diǎn)之一。 本課題主要研究的基于姿態(tài)控制步態(tài)康復(fù)訓(xùn)練系統(tǒng)的設(shè)計(jì)。 本文介紹了下肢康復(fù)機(jī)器人國內(nèi)外發(fā)展現(xiàn)狀和應(yīng)用情況，進(jìn)行了步態(tài)訓(xùn) 練機(jī)器人的總體方案設(shè)計(jì)、結(jié)構(gòu)設(shè)計(jì)，和總體控制方案設(shè)計(jì)等；對步態(tài)訓(xùn)練 機(jī)器人進(jìn)行三維建模，并對重要零件進(jìn)行校核。本步態(tài)訓(xùn)練機(jī)器人共有 7 個 自由度，其中每一條機(jī)械腿上有 3 個關(guān)節(jié)（3 個自由度）模仿人體腿上的踝 關(guān)節(jié)、膝關(guān)節(jié)、髖關(guān)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(fēng)等病人的步態(tài)康復(fù)訓(xùn)練，幫助病人更好地進(jìn)行康復(fù) 訓(xùn)練，減輕他人的幫助，挺高效果。 關(guān)鍵詞：康復(fù)訓(xùn)練；機(jī)器人；步態(tài) 哈爾濱工程大學(xué)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(xué)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(fù)機(jī)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(shè)計(jì)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(shè)計(jì) .....................................................................................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(guān)節(jié)結(jié)構(gòu)的選擇 .................................................................................14 2.2.5 連桿結(jié)構(gòu)的選擇 .................................................................................14 2.2.6 腰部結(jié)構(gòu)設(shè)計(jì) .....................................................................................15 2.2.7 減重機(jī)構(gòu) .............................................................................................15 2.2.8 整體結(jié)構(gòu)設(shè)計(jì) .....................................................................................16 2.3 本章總結(jié) ...................................................................................................16 第 3 章 機(jī)械結(jié)構(gòu)的設(shè)計(jì)與計(jì)算及驅(qū)動元件選型 ..............................17 3.1 人體參數(shù) ...................................................................................................17 3.2 各關(guān)節(jié)運(yùn)動學(xué)分析 ...................................................................................17 3.2.1 踝關(guān)節(jié)的運(yùn)動學(xué)分析 ............................................................................18 3.2.2 膝關(guān)節(jié)的運(yùn)動學(xué)分析 ...........................................................................18 3.2.3 髖關(guān)節(jié)的運(yùn)動學(xué)分析 ...........................................................................19 3.3 關(guān)節(jié)力矩分析 ...........................................................................................20 3.4 具體結(jié)構(gòu)設(shè)計(jì) ...........................................................................................21 3.4.1 關(guān)節(jié)結(jié)構(gòu)的選擇 .................................................................................21 3.4.2 連桿結(jié)構(gòu)的選擇 .................................................................................22 3.4.3 腰部結(jié)構(gòu)設(shè)計(jì) .....................................................................................23 3.4.4 減重機(jī)構(gòu) .............................................................................................23 3.4.5 整體結(jié)構(gòu)設(shè)計(jì) .....................................................................................24 哈爾濱工程大學(xué)本科生畢業(yè)論文 3.5 一些零件的設(shè)計(jì)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(jì)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(guān)計(jì)算 .......................................................................31 3.7 本章小結(jié) ...................................................................................................32 第 4 章 供氣與控制系統(tǒng)的設(shè)計(jì) ..............................................................33 4.1 供氣系統(tǒng)的設(shè)計(jì) .......................................................................................33 4.1.1 供氣回路設(shè)計(jì) .....................................................................................33 4.1.2 氣動元件的選擇 .................................................................................34 4.2 康復(fù)機(jī)器人的訓(xùn)練方式 ...........................................................................39 4.3 氣動自動控制方框圖 ...............................................................................39 4.4 本章小結(jié) ...................................................................................................40 結(jié) 論 .............................................................................................................41 參考文獻(xiàn) .............................................................................................................42 致 謝 .............................................................................................................45