基于助力式外骨骼系统的动力学分析与研究

在助力式外骨骼的基础上,首先建立了人机系统的机构模型;然后建立了机构模型的动力学模型,通过虚功原理方法建立此机构的动力学模型的;进而运用MATLAB对此机构模型进行动力学计算仿真;最后利用ADAMS对于此冗余机构进行动力学模拟验证,并分析对比了理论计算以及仿真的结果,证明了该理论分析的正确性以及可行性。

Dynamics Analysis and Study Based on Wearable Exoskeleton System

Based on wearable exoskeleton system , firstly a mechanical model of man-machine system is established , then a dynamics model of the mechanical model is built by the way of principle of virtue work .MATLAB was used to make a dynamics simula-tion and calculation of the mechanical model .At last, ADAMS was used to prove the dynamics simulation of the redundant mechanism , and also the results between the theoretical calculation and the simulation were analyzed and contrasted .Thus the validity and feasibility of this theoretical analysis are proved .