基于气动肌肉的可穿戴式上肢外骨骼助力机器人动力学仿真

Dynamic Simulation of Wearable Upper Limb Power Assisted Robot Based on Pneumatic Muscle

依据仿生设计原理,设计了一种基于气动肌肉的可穿戴式上肢外骨骼助力机器人,并进行了动力学仿真分析。参考人体肩关节、肘关节、腕关节的运动机理及特性参数,设计外骨骼的机械结构,运用Pro-e软件建立其三维装配体模型,将其导入ADAMS中进行动力学仿真。通过仿真分析得到大、小臂等的角速度和角加速度以及各个关节的力矩变化规律,验证了设计的合理性与正确性,为机器人智能控制提供了理论基础。

For the wearable exoskeleton robot, the complicated mechanical structure and low position precision limits its application scope. Based on the bionic design principle, a kind of wearable arm exoskeletons power robot based on pneumatic muscle is designed, and the dynamic simulation analysis is done. Referring to the movement mechanism and characteristic parameters of human shoulder elbow and wrist, the mechanical structure of the exoskeleton is designed, using Pro-e software to build the three-dimensional assembly model, then importing into ADAMS for dynamic simulation. The angular velocity and angular acceleration of the large and small arms, as well as the torque variation of each joint, are obtained by simulation analysis. The rationality and correctness of the design are verified, which provides a theoretical basis for robot intelligent control.