中国医疗设备2016，Vol.31Issue(8)：26-29,4.DOI:10.3969/j.issn.1674-1633.2016.08.006
下肢康复机器人腰部机构的结构设计与运动仿真分析
Structure Design and Kinematical Simulation Analysis of the Waist Mechanism of Lower Limb Rehabilitation Robot
陈成 1黄玲1
作者信息
- 1. 南京理工大学 机械工程学院，江苏南京210094
- 折叠
摘要
Abstract
The paper drew a three-dimensional model of the waist mechanism of lower limb rehabilitation robot. And the kinematics modeling and calculation of the waist mechanism was also carried out. In the meantime, the kinematical simulation of the waist mechanism was made by using ADAMS (Automatic Dynamic Analysis of Mechanical Systems) so as to obtain the waist mechanism simulation curve. It was showed that the structure design of the waist mechanism could satisfy the movement rule of lower limb rehabilitation training for the waist to realize the position control of the waist through the analysis of the simulation curve. Also, the rationality of structure design of the waist mechanism was veriifed.关键词
腰部运动/仿真分析/康复机器人/运动学建模Key words
waist movement/simulation analysis/rehabitation robot/kinematical modeling分类
医药卫生引用本文复制引用
陈成,黄玲..下肢康复机器人腰部机构的结构设计与运动仿真分析[J].中国医疗设备,2016,31(8):26-29,4.
