外骨骼负重重心自适应凸轮连杆机构设计与性能研究

针对负重型下肢外骨骼机器人存在的问题，提出了一种新的下肢外骨骼机器人重心自适应凸轮连杆机构。具体位置在外骨骼机器人髋关节与靠背板之间，新机构可以满足人体躯干与负重作相反转动，使人体上肢躯干重心前移，抵消负重带来的反向力矩，躯干前倾可增强人体负重行走稳定性。首先分析了新机构工作原理，其次通过重心变化和载荷分配分析验证了新机构有效性，最后对机构仿真验证得出不同负重对应不同躯干的前倾角度，达到重心驱动的效果。MATLAB仿真结果表明：新结构能够满足人体随不同负重而调整对应前倾角度。

Design and Performance of Adaptive Cam Linkage Mechanism for External Skeleton Gravity Center

In order to solve problems in weight-bearing exoskeleton robot, a new cam linkage mechanism is proposed. The specific position of the mechanism is located between the hip joint and the back. It has the ability to adapt to the center of gravity. Whether the weight is borne or not, it will directly affect the gravity center position of the man-machine system. The mechanism can make the torso of a human body rotate reversely to the load. The working principle of the new mechanism is analyzed. Barycenter variation analysis and load distribution analysis confirm that the new mechanism is effective. The mechanism is simulated and verified to obtain different forward angles of the torso corresponding to different loads, so as to achieve the effect of center of gravity driving. The MATLAB simulation results show that the new structure can meet the requirement that the human body can adjust the corresponding forward tilt angle according to different loads.