| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 105 === This thesis aims to propose a counterweight-based static balancing design for a reconfigurable lower limb muscle training device. The proposed mechanism design has two features: 1) The mechanism has an offset remote center-of-motion (RCM), which makes some links can be installed at different layers for saving space; 2) The two configurations of the mechanism can be statically balanced by using our counterweight only. The study first reviewed the composition and motion characteristics of statically balanced mechanisms and the RCM based on the counterweight method. Then, the use of offset RCM will facilitate the reconfigurable mechanism producing a rotation around the knee joint, which further leads some links able installed at different layers for saving workspace. In addition, the design uses only one counterweight to balance both configurations. And by changing the mass of the counterweight, the mechanism can adapt to different users and achieve variable resistance training. A concept of adjustable link lengths is suggested for accommodating the users with different lengths of leg segments. Finally, the design is validated by using Adams motion simulation software.
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