医疗助力下肢外骨骼设计及动力学仿真分析

针对人体下肢受伤康复等问题,设计了医疗助力下肢外骨骼机器人.对下肢外骨骼系统进行了基本结构设计,把下肢运动分单腿、双腿支撑的不同时期,进行了下肢外骨骼系统动力学计算.通过Lagrange方程,得到各关节力矩计算公式,建立了三维模型,利用基于接口的协同仿真技术并结合ADAMS和MATLAB软件对外骨骼进行联合仿真,得到单腿支撑时期各关节角度变化曲线及力矩变化曲线,对比仿真数据和理论计算数据,验证了理论模型的合理性.通过下肢外骨骼仿真分析设计,为后期下肢外骨骼运动控制及模型制造提供重要数据与理论基础.

Design and dynamics simulation analysis of medical disabled lower limb exoskeleton

Aiming at the problems such as lower extremity injury ,the medical assistive limb exo‐skeleton robot is designed .The basic structure of lower limb exoskeleton system was designed . The lower limb movement was divided into different periods ,such as single leg support period and two legs support period .The dynamics computation of lower limb exoskeleton system was made .By the use of the Lagrange equation ,the calculation formula of each joint torque was made .The three‐dimensional model was established .Based on the collaborative simulation tech‐nology of the interface ,the exoskeleton was unitedly simulated united simulation by ADAMS and MATLAB software .The curves of each joint's angle and torque in the single leg support period were made .It showed the correctness of the theoretical analysis by comparing the simulation data with the theoretical calculation date .By the simulation analysis of the lower limb exoskeleton ,it provides important data and theoretical basis for the motion control and model manufacturing of lower extremity exoskeleton .