基于助力式外骨骼系统的动力学分析与研究

Dynamics Analysis and Study Based on Wearable Exoskeleton System

在助力式外骨骼的基础上,首先建立了人机系统的机构模型;然后建立了机构模型的动力学模型,通过虚功原理方法建立此机构的动力学模型的;进而运用MATLAB对此机构模型进行动力学计算仿真;最后利用ADAMS对于此冗余机构进行动力学模拟验证,并分析对比了理论计算以及仿真的结果,证明了该理论分析的正确性以及可行性。

Based on wearable exoskeleton system, firstly a mechanical model of man-machine system is established, then a dynamics model of the mechanical model is built by the way of principle of virtue work. MATLAB was used to make a dynamics simula- tion and calculation of the mechanical model. At last, ADAMS was used to prove the dynamics simulation of the redundant mechanism, and also the results between the theoretical calculation and the simulation were analyzed and contrasted. Thus the validity and feasibility of this theoretical analysis are proved.