This paper uses a bionic lower limb rehabilitation mechanism combined with a running frame structure to simulate human gait movement for lower limb rehabilitation training. The vibration excited by the vertical vibration module causes the muscle to oscillate, and the mechanical vibration excites the neuromuscular system to obtain corresponding rehabilitation functions. The robot system is modeled in three dimensions, and the static analysis and modal analysis of the running frame are carried out. The mechanism and application of vertical vibration in the key technology are clarified, and the vibration element in the vertical vibration device is analyzed. The vibration theory is deduced, and the vibration displacement figure is drawn using simulation software. The related cooperative vibration spring has also been analyzed with single-degree-of-freedom damping vibration, and the spring's center of mass movement, momentum, and position changes over time are illustrated. The design of the robot system solves the current situation of single movement of the lower limb rehabilitation robot and unsatisfactory rehabilitation effect, laying a foundation for the practical application of the subsequent lower limb rehabilitation robot system.

In-depth research on the rehabilitation mechanism and motion characteristics of a rehabilitation training robot based on 4-UPUS parallel mechanism. The overall design and the working principle of each key component are explained, and the robot rehabilitation scheme is described. The static analysis and modal analysis of the robot bearing structure are carried out to verify whether the static mechanical characteristics of the mechanism meet the application requirements under working conditions.A simplified mathematical model of the six-bar linkage mechanism is established, and the kinematics of the mechanism is solved by the geometric analysis method. The motion characteristic diagram of each key point is obtained through simulation calculation. Establish the motion model of the parallel mechanism, and discuss the working space and motion performance analysis of the mechanism. The forward solution analysis of the mechanism position is carried out by using the numerical analysis method, and the three-dimensional graphics of the attitude angle and linear displacement of the reachable working space are obtained.Taking the UPUS single branch chain as the analysis object, the single open chain analysis method is used to solve the kinematics image of the corresponding surface in the working space of the mechanism, which verifies the correctness of the kinematics theoretical solution and the feasibility of simulation.The research results show that the 4-UPUS parallel mechanism rehabilitation training robot can cooperate with the ankle joint for rehabilitation training. It makes up for the single movement of the current lower limb rehabilitation robot and the unsatisfactory rehabilitation effect, and provides a reference for the practical application of the subsequent ankle joint rehabilitation robot system.

In-depth research on the rehabilitation mechanism and motion characteristics of a rehabilitation training robot based on 4-UPUS parallel mechanism. The overall design and the working principle of each key component are explained, and the robot rehabilitation scheme is described. The static analysis and modal analysis of the robot bearing structure are carried out to verify whether the static mechanical characteristics of the mechanism meet the application requirements under working conditions.A simplified mathematical model of the six-bar linkage mechanism is established, and the kinematics of the mechanism is solved by the geometric analysis method. The motion characteristic diagram of each key point is obtained through simulation calculation. Establish the motion model of the parallel mechanism, and discuss the working space and motion performance analysis of the mechanism. The forward solution analysis of the mechanism position is carried out by using the numerical analysis method, and the three-dimensional graphics of the attitude angle and linear displacement of the reachable working space are obtained.Taking the UPUS single branch chain as the analysis object, the single open chain analysis method is used to solve the kinematics image of the corresponding surface in the working space of the mechanism, which verifies the correctness of the kinematics theoretical solution and the feasibility of simulation.The research results show that the 4-UPUS parallel mechanism rehabilitation training robot can cooperate with the ankle joint for rehabilitation training. It makes up for the single movement of the current lower limb rehabilitation robot and the unsatisfactory rehabilitation effect, and provides a reference for the practical application of the subsequent ankle joint rehabilitation robot system.

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In the process of ancient Chinese and foreign technology and cultural exchanges, the Silk Road has an important value. Glass artifacts, as goods on the Silk Road, are widely distributed and have important significance for people to reveal the law of social development. In order to study the classification characteristics of high potassium glass and lead-barium glass from the perspective of chemical composition content, and to classify the two kinds of glass into subclasses on this basis, this paper establishes a factor analysis model and applies a factor analysis algorithm to classify the variables by dimensionality reduction; furthermore, the factor rotation is performed on the reduced variable family to further explain what kind of original variables the new variables represent, so as to explain the classification method. Finally, the sensitivity test with the addition of dynamic Gaussian white noise is used to analyze the sensitivity of the model.