负重外骨骼机器人的设计及其运动学动力学仿真

介绍了人体下肢骨骼结构以及人体步态数据,并在此基础上创建了下肢外骨骼机器人的零件模型及其装配体模型,然后将装配体模型导入到MSC.ADAMS软件中,进行运动学和动力学仿真。仿真结果表明:该外骨骼机器人结构合理,能够保证机构运动的灵活性与穿着舒适性;其次是动力学仿真结果反映了外骨骼机器人各关节处所受载荷的变化规律。

The Kinematics and Dynamics Simulation of the Exoskeleton Robot for Bearing

In this paper,the structure of lower extremity skeleton in the human body and CGA(Clinic Gait Analysis) data was introduced.On the basis of the above-mentioned,the models for the mechanical parts and assemblies of the exoskeleton robot were established,and then the model of the final assembly was imported into the system of MSC.ADAMS,and kinematics and dynamics simulation were carried out.The results suggested that the structure design of the exoskeleton robot is reasonable,which assured the flexibility of the mechanism and the comfort to put on,and that the simulation results reflected the changing law of those loads applied on the joints of the exoskeleton robot.