外骨骼助力机器人结构设计及动力学仿真

采用人机合一的下肢外骨骼助力装置,是未来单兵提高携行、机动能力的先进方式;而智能化的助力机械结构设计与合理的驱动选择布置,是确保外骨骼助力机器人可靠工作的关键。本文通过对人体结构与人体行走运动机理的分析,进行外骨骼机械结构的初步设计,并从电控、驱动及结构减重等方面进行考虑,对外骨骼机械结构进行优化设计,并获得三维模型。在此基础之上,进一步就机械结构的运动学仿真,通过对各关节的力矩分析,验证结构设计及驱动布置的合理性。

Structure Design and Dynamic Simulation of the Lower Extremity Exoskeleton

The lower limb exoskeleton supporting intelligence systems can be used to effectively improve the carrying and moving ability of the soldiers in the future,it is the key techniques of the supporting intelligence mechanism design and in this paper,the preliminary design of he lower extremity exoskeleton was carried on by analysis of the human body struc- ture and human movement mechanism. Considering other aspects like electric control,drive and weight reduction and so on, optimization design of the mechanical structure was made,then the three-dimensional model of it could be acquired. On this basis,kinematics simulation of the mechanical structure will be carried through further, through the analysis of ioint torque, it was proved that the rationality of the structure design and drive design.