助行机器人助行机构动力学分析及实验研究

Dynamics analysis and experimental research on a walking assistance mechanism for walking assistance robots

为帮助下肢功能障碍患者实现正常的行走功能，为助行机器人设计了一种双曲柄摇杆形式的助行机构，该机构仅使用一个驱动元件实现其运动控制，且能够实现行走过程中大腿和小腿之间的协调运动关系。在助行机构力学分析的基础上，利用联立约束法建立了该助行机构的动力学模型，进行了其运动学和动力学仿真分析，进而得到了其带动人体行走时一个步态周期内下肢关节转角、下肢运动轨迹及助行机构所需的控制力矩，为助行机构设计和控制系统驱动装置的优化设计提供了依据。并通过物理样机进行了助行训练的实验研究。仿真分析和实验研究结果均表明：在助行机构的带动下，受试者下肢的运动规律符合正常人行走时的步态特征，运动轨迹正确，步态连续。

To help the patients with lower limb dysfunction achieve normal walking function, a new walking assistance mechanism with a double-crank rocker was designed for walking assistance robots. The new mechanism uses only one actuator to＂ achieve its motion control, and it can control the coordinated motion of thighs and shanks. Based on the mechanical analysis of the mechanism, a dynamic model of the mechanism was established using the simultane- ous constraint method. The kinematics simulation and the dynamics simulation of the mechanism were conducted, and based on them, the turning angles of lower limb joints, the moving trajectories of lower limbs and the desired driving torque during one gait cycle were all obtained, providing the basis for mechanical design and optimization design of control system actuators. The walking training experiment research was finished using the physical proto- type. The simulation analysis and experimental results show that with the help of the new walking assistance mecha- nism, the movement of patients＇ legs conforms to normal walking gait characteristic curves. The mechanism can re- alize correct trajectory and continuous gait.