髋关节助力外骨骼的结构设计

Structure Design on Walking Assist Exoskeleton for Hip Joint

目的以为正常人和具有行走功能障碍的人群提供行走助力为设计目标,对髋关节外骨骼进行结构设计。力求实现质量轻、结构可靠、制造简便、人机协调性好等目标。方法基于人机工程学和人体步态运动规律提出一种髋关节外骨骼的结构设计方法,并确定了该外骨骼结构的自由度数、运动副设置、几何关系以及各杆长等关键信息,基于以上内容对外骨骼进行详细设计,建立虚拟样机模型,并使用ADAMS软件对其进行动力学仿真。结果样机模型运动良好,符合预期目标。并基于以上数据得到了该外骨骼滚珠丝杠的运动速度和电机的选型标准。结论 ADAMS软件仿真结果表明外骨骼的结构设计合理,动力符合设计要求,同时,为下肢外骨骼的相关结构简化提供了参考,为外骨骼的进一步设计奠定了基础。

It aims to provide walking aid for normal people and people with walking disorder, to propose a structure design method of the hip joint exoskeleton, to achieved the goals of the hip joint exoskeleton with light weight, reliable structure, easy to manufacture, and well man-machine coordination. It presents a structure design method of the hip joint exoskeleton, which is based on ergonomics and human gait motion law. It determines the key information of the degrees of freedom, the movement of sub-set, geometric relationship of exoskeleton and the length of poles, etc. Then based on the above contents, the detailed design of the hip joint was made, and the dynamic simulation was conducted by ADAMS software on the basis of its virtual prototype model. The virtual prototype model works well and meets the expectations. Based on the data above, the speed of ball screw and the selection criteria of the dynamo of the exoskeleton are obtained. The simulation results show that the structure of the proposed hip joint exoskeleton walking-aid is effective and reasonable, the power meets the design requirements. This study provides a reference to simplify the structure for lower limb exoskeleton, laying the foundation for the further design of exoskeleton equipment.