可穿戴式下肢助力机器人运动学分析与仿真

Kinematics Analysis and Simulation of a Robot with Wearable and Power-assisted Lower Extremities

可穿戴下肢助力机器人是将人和机器人机构结合在一起,通过获取人体下肢运动行为信息来控制机器人机构与人体协调、同步行走,并实时为人体下肢提供助力的一种装置。可穿戴下肢助力机器人机械系统不仅符合以往的拟人机器人行走机构的设计要求,又要与人体下肢系统相匹配,为人体提供助力时,与人体下肢相协调、互不产生运动干涉。基于人体下肢各关节运动参数,对助力机器人机械系统进行了运动学分析并建立了模型,通过对人体下肢运动仿真,验证了所建立的运动学模型的可行性。

A robot with wearable and power-assisted lower extremities is a real-time human power-assisted device which helps the robot to walk harmoniously and synchronously with human through acquiring the information concerning its lower extremities＇ movement behavior. Its mechanical system needs not only to meet the design requirement of the walking mechanisms of the previous humanoid robot but also to match human extremities. While it is providing assistance power to human, the robot should walk in harmony with human extremities and exert no interference on human ambulation. Based on the movement parameters of the various joints of human extremities, the paper carried out the kinematics analysis and modeling of the mechanical system of the power-assisted robot. The simulation of the movement of human extremities verifies the feasibility of the kinematics model established in the paper.