一种多功能下肢外骨骼机器人的设计与仿真分析

针对老年人以及下肢运动障碍患者的康复训练和运动代步的需求,设计了一种多功能下肢外骨骼机器人,利用辅助起立机构和腿部外骨骼实现对使用者下肢的康复训练。分别了建立外骨骼机器人单腿支撑阶段和双腿支撑阶段5杆模型,采用拉格朗日方法推导出动力学模型,计算各关节所需的理论力矩;建立虚拟样机模型进行动力学仿真,仿真数据与理论数据进行比较,验证了理论推导的准确性和外骨骼机器人设计的合理性,为后续电机选型提供了依据。

Design and Simulation Analysis of Multi-purpose Lower Limb Exoskeleton Robot

Aiming at the needs of rehabilitation training and movement substitution for the elderly and patients with lower limb movement disorders,a multi-purpose lower limb exoskeleton robot is designed,which utilizes auxiliary standing mechanism and exoskeleton to realize the rehabilitation training of lower limbs for users.Five-bar models of the one-leg support stage and the two-leg support stage of the exoskeleton robot are established,and the dynamics model is deduced by Lagrange method to deduce the theoretical moments required for each joint.A virtual prototype model is established to carry out dynamics simulation,and the simulation data is compared with the theoretical data to verify the rationality of the design of the exoskeleton robot with the accuracy of the theoretical deduction,which provides a theoretical basis for motor selection.