下肢外骨骼机器人结构设计和动力学仿真

The Structure Design and Dynamic Simulation of Lower Extremity Exoskeleton Robot

为增加单兵作战能力,以人为核心,同时具有机械的高负载能力、耐力、长时间运动能力,设计出一款结合人工智能与机械的助力机器人。机械设计以人体下肢结构参照,模拟人体下肢关节、运动自由度的分布,以达到人机高度协调。通过对人正常行走时步态的分析,测出主要关节随的运动轨迹以及拟合出对应算法。用Matlab将该算法进行计算,获得对应关节的运动数据,再将该数据导入Adams所建的模型,进行动力学仿真。仿真得出各个关节处驱动器相关参数,为驱动器的选型提供参数参考。经过步态规划,机器人可模拟正常人的步伐,仿真结果真实可靠。

In order to increase individual combat capability,human-centered,as well as a high mechanical load capacity,endurance,long athletic ability,it designs a robot by combinating artificial intelligence and robotics machinery,which would provide human assistance. The mechanical design refers to the human lower limb structure,which fully simulates the joints,and the distribution of freedom of human lower limb in order to achieve a great coordination of human-machine. By the analysis to the human normal walking gait,it gets the trajectory of each joint and the corresponding algorithms. It performs the algorithm by Matlab to obtain the corresponding motion data of each joint,and then imports that data into the built model of Adams for dynamic simulation. The simulation results of the joints provide a parameter reference for the drive selection. After the gait planning,the robot can simulate the human normal pace. The simulation results are reliable.