步行训练机器人虚拟样机协同仿真方法研究

Virtual Prototype and Collaborative Simulation of the Gait-Training Robot

研究SolidWorks、ADAMS和MATLAB协同仿真方法,建立步行训练机器人虚拟样机三维实验平台,实现对步行训练的动态特性和控制系统的仿真验证,其结果证明虚拟样机协同仿真的方法确切有效地分析步行训练机器人运动特性,为研发步行机器人的物理样机提供主要参考。

Solidworks, Adams and Matlab/Simulink were integrated to be used to establish united simulation platform for the gait training robot. Kinematics and dynamics simulation of the gait training robot, the control laws were done in collaborative simulation platform. The results indicate that the dynamic properties of the gait training robot were analyzed correctly and efficiently. A reliable solution was proposed for the entire design of gait training robot.