Design and Analysis of a Hybrid Lower Limb Rehabilitation Robot Structure

In response to the current issues with lower limb rehabilitation robots, a 3-degree-of-freedom hybrid lower limb exoskeleton has been designed. This exoskeleton consists of three parts: a waist device, a hip device, and a knee device. The waist structure can adaptively fit different body shapes. The hip device is a 3-UU mechanism that enables rehabilitation training for hip joint flexion/extension and adduction/abduction. The knee device is a URU-RRR parallel mechanism that facilitates rehabilitation training for knee joint flexion/extension. The modified Gruebler's formula was used to calculate the degrees of freedom of the mechanism, and the workspace cloud map of the mechanism was plotted using MATLAB. The driving function was input into Adams to obtain the end-effector motion trajectory. Finally, static analysis of key components was performed in Ansys Workbench to obtain the stress and deformation cloud maps of the mechanism.