一种新型助力携行下肢外骨骼设计及仿真

设计了一种非拟人型下肢外骨骼,主要是由座椅、髋关节、大腿部结构、膝关节、小腿部结构、踝关节和鞋子依次串联而成,采用电机驱动。对下肢外骨骼进行了自由度分配与结构分析,根据坐标变换,运用D-H法建立下肢外骨骼的运动学模型。建立了下肢外骨骼虚拟样机模型,利用多体动力学仿真软件ADAMS进行运动学仿真。仿真结果验证了理论模型的合理性,为后期进一步研究外骨骼提供了依据。

Design and Simulation of a New Type of Power Assisted Portable Exoskeleton for Lower Limbs

A non anthropomorphic exoskeleton robot designed is mainly successively wired in series by a seat, a hip joint, a thigh, a knee joint, a leg, an ankle and a shoe, which is driven by an electric motor. The structure of the lower limb exoskeleton was analyzed and its degrees of freedom were distributed. According to the coordinate transformation, the D-H method was used to establish the kinematics model of the lower limb exoskeleton. The virtual prototype model of lower limb exoskeleton was established, and the kinematics simulation was carried out by using multi body dynamics simulation software ADAMS. The simulation results verify the rationality of the theoretical model, which laid the foundation for the later study of the exoskeleton.