一种简单的行走助力机器人的设计与仿真

行走助力机器人是近年来兴起一新的研究领域,它属于特种机器人的范畴。行走助力机器人可以增强人体下肢的力量,可以为老年人、残疾人、士兵和消防员等提供增强行走能力的服务。在本篇论文中,首先是在分析人体行走特定的基础上设计了一款简单的行走助力机器人,并通过运动学逆求解得到了各个关节的角位移计算方程。然后采用微分变换法来求取雅可比矩阵来对速度运动学进行分析。最后采用Pro/E和ADAMS对机器人进行了动力学仿真,并对仿真中出现的问题和测量所得曲线进行了分析。

Design and Simulation of a Simple Walking Power-assisted Robot

The walking power-assisted robot is a new research field in recent years, which belongs to special robot category. The walking power-assisted robot can strengthen the power of the wearer＇s leg, and it can be used for elderly people, handicapped, soldiers and firemen. At first, based on the biological characteristic of human walking, a simple walking power-assisted robot is designed in this paper. Then, the positive and inverse kinematics model of the robot is analyzed based on the D-H matrix. And the solutions of the kinematics equations were got. The dynamical model of the robot was presented based on Lagrange method. Based on the dynamics equations, the driving torque of every joint in the robot can be calculated. At last, Pro/E and ADAMS are used in the simulation experiments of the robot. the validity of the designed robot is testified by computer simulation.