基于虚拟样机技术的外骨骼助力搬运机器人结构设计与仿真研究

Structural design and verification of exoskeleton assisted handling robot based on virtual prototyping technology

针对现有外骨骼助力搬运机器人结构复杂、价格昂贵的问题,对外骨骼助力搬运机器人虚拟样机技术的结构设计、运动学与控制仿真展开了研究。设计了一款结构相对简单,在人体弯腰搬运重物时对人体腰部提供助力,且肘关节设计为自锁机构的可穿戴全身外骨骼助力搬运机器人;通过对外骨骼下肢运动学模型建立了D-H坐标,进行了正逆运动学分析;利用虚拟样机技术,采用人体步态行走时所采集的实验数据,对外骨骼助力搬运机器人进行了步态运动的仿真分析与联合控制仿真。研究结果表明:所设计的外骨骼助力搬运机器人的步态仿真运动与人体的实际数据相符,验证了所设计结构的稳定性与可靠性。

Aiming at the problem of existing exoskeleton assisted handling robot structure complex,expensive the exoskeleton robot was studied for the structural design,kinematics and control simulation of the robot's virtual prototype technology.A relatively simple structure was designed to help the human body by bending over and carrying heavy objects,and the elbow joint was designed for self-locking mechanism.The D-H coordinates were established through kinematics model of the exoskeleton.The direct and inverse kinematics analysis was carried out.Based on the virtual prototype technology,the experimental data collected during the human gait walk,the simulation analysis and co-simulate of the gait movement were carried out.The results indicate that the designing of the robot's gait simulation is consistent with the actual data of the human body,and proves the stability and reliability of the designed structure.