下肢外骨骼助力机器人动力学建模及实验研究

下肢外骨骼助力机器人存在人?机关节是否匹配、主动关节设计是否满足人体关节运动的驱动力要求等问题。为解决上述问题，基于所设计的电液伺服驱动下肢外骨骼助力机器人，将其简化为七连杆结构，并结合步态平衡理论，采用牛顿?欧拉法构建了其摆动相与支撑相瞬时动力学模型。然后，将不同步态相位下人体运动时的角度数据、速度数据及机器人结构参数代入牛顿?欧拉动力学迭代方程，求得机器人各关节的理论驱动力矩。最后，开展ADAMS（automatic dynamic analysis of mechanical systems，机械系统动力学自动分析）仿真实验和人机协同助行实验，通过对机器人各关节的驱动力矩峰值进行比较，验证了所构建动力学迭代方程的正确性和有效性。结果表明，通过采用牛顿?欧拉法来求解下肢外骨骼助力机器人关节的驱动力矩，可为其结构优化与控制策略制定提供重要的理论支撑。

Dynamic modeling and experimental research of lower limb exoskeleton assisted robot

The lower limb exoskeleton assisted robot has problems such as whether the human-machine joints match, and whether the active joint design meets the driving force requirements of human joint during motion. In order to solve these problems, based on the designed electro-hydraulic servo driven lower limb exoskeleton assisted robot, by simplifying it into a seven-link structure, the instantaneous dynamic model of swing phase and support phase were constructed by Newton-Euler method combining with the gait balance theory. Then, the angle data, velocity data of human motion under different gait phases and the robot structure parameters were substituted into the Newton-Euler dynamic iteration equations to obtain the theoretical driving torque of each joint of the robot. Finally, the ADAMS (automatic dynamic analysis of mechanical systems) simulation experiment and human-machine cooperative walking aid experiment were carried out, and the correctness and effectiveness of the constructed dynamic iteration equations were verified by comparing the peak driving torque of each joint of the robot. The results showed that using the Newton-Euler method to solve the driving torque of the lower limb exoskeleton assisted robot joint could provide important theoretical support for its structural optimization and control strategy formulation.