下肢外骨骼康复机器人动力学分析与仿真

Dynamic analysis and simulation for lower limb exoskeleton rehabilitation robot

下肢外骨骼康复机器人动力学模型的准确建立,是实现机器人精确控制的前提条件。文中将下肢外骨骼机器人简化为7杆模型,并将下肢运动周期划分为单腿支撑和双腿支撑两个阶段,采用拉格朗日方法建立外骨骼康复机器人系统的整体动力学模型。通过人体下肢运动的实时动作捕捉及其运动轨迹的数据分析,得到人体正常行走时的关节运动规律,推导出各个关节所需的驱动力矩。利用SolidWorks建立机器人三维简化模型并导入ADAMS软件进行动力学仿真,验证了理论推导的准确性,为机器人电机的选型和控制系统的设计提供了理论依据。

For the lower limb rehabilitation robot, the accurate dynamic model is the important prerequisite for precise control. Firstly, the lower limb exoskeleton robotwas simplified as 7-link body model andlower limb movement cycle wasdivided into two phases including single leg and double legs support. On this basis, the total dynamic equation of the lowerextremity exoskeleton robot wasestablished by using the lagrange method. Secondly, through the real-time motion capture and motion trajectory analysis of the human lower limb movement, the joint movement law of the human body was obtained, and the driving torque required for each joint was also derived. Thenthe three-dimensional simplified model built with Solid Works software was imported in ADAMS software to simulate. The result of simulation verified the accuracy of theoretical derivation, which provided theoretical basis for motor selection and the design of control systems.