Configuration Synthesis and Structure Design of a Reconfigurable Robot for Muscle Strength Training

摘要

The purpose of this article is to present configuration synthesis and structure design of a reconfigurable robot for muscle strength training. Based on the musculoskeletal structure, kinematic characteristics and isokinetic muscle strength training principles of the human main limb joints, the configurations of muscle strength training device suitable for limb joints were summarized. And then, the structural composition characteristics of each joint muscle strength training device were analyzed, and a reconfigurable muscle strength training robot configuration was proposed by assembling the functional units. On this basis, the CAD model of the muscle strength training robot was designed, and the reconfigurable simulation of the training configuration was carried out. The muscle strength training robot designed in this paper has the advantages of simple structure and strong reconfigurable ability. Through the reasonable combination and allocation of functional units, 17 kinds of robot configurations suitable for joint muscle groups training were reconstructed.