下肢液压驱动助力外骨骼机构设计与运动学研究

The Mechanical Design and Kinematics Study of Lower Limb Hydraulic Driving Exoskeleton

基于人体行走的生物学特征及人体各部分尺寸,设计基于液压驱动的助力外骨骼机器人机械结构;运用ADAMS软件建立机械系统多体动力学模型,验证所设计机构可行性;对外骨骼运动学模型进行分析,并结合人体标准步态设置相应的参数,得出外骨骼机器人关节角度和液压缸伸缩量的曲线,从而为上位机的调试提供理论基础.

Based on biological characteristics of human walking and sizes of each part of human bodies, this paper designed a mechanical structure of assisting exoskeleton according to hydraulic driving power. The feasibility of this structure was verified by building a mechanical, multi-body dynamics model using ADAMS software. This model was then analyzed, and corresponding parameters were set based on human standard gaits. Thus, the curve of exoskeleton angles and hydraulic telescopic cylinder volume were obtained. This, accordingly, provides a theoretical basis for debugging of host computers.