基于ADAMS的助力机械腿结构设计与仿真

Structural design and simulation of assistant leg based on ADAMS

为研究助力机械腿的步态周期,提出采用虚拟动力学软件仿真模型行走过程的方法.结合人体结构和行走规律,研究助力机械腿的工作原理和功能实现,对助力机械腿进行机械结构的设计,并建立助力机械腿和与之相配合的数字人的三维模型,利用ADAMS对人体行走步态进行仿真模拟控制.试验验证了建立的助力机械腿符合人体行走的要求,在技术上是可行的,为实体样机试验提供了参考,对研究助力机械腿控制算法具有积极意义.

To stu software to simu dy the walking gait period of an assistant leg, the method using virtual dynamics late walking process was proposed. With combination of human body structure and gait planning, research on the work principle and the function implementation of an assistant leg was carried out. Design of the mechanical structure of an assistant leg was made and its 3D model combining with its corresponding human body model was established and ADAMS was used to simulate its walking gait. The result proves that the assistant leg meets the requirements of human walking, and it is technically feasible. The proposed method provides reference for physical prototype machine and is of great significance for research on control algorithm for an assistant leg.