摘要
目前,我国很多工序仍然是手工作业,工作量大,效率低下。基于此,设计了一个3-DOF下肢外骨骼机构,对其运动学进行分析,然后通过控制跨步调整脚着地位置的方法,确保了机构的稳定性。通过ADAMS仿真分析,结果显示,建立的外骨骼机构稳定性良好,实现了助力目的,满足设计要求。
At present,many processes in our country are still manual work,with heavy workload and low efficiency.Based on this,a 3-DOF lower limb exoskeleton mechanism is designed to analyze its kinematics,and then the stability of the mechanism is ensured by controlling the foot position of the foot step by step.Through ADAMS simulation analysis,the results show that the exoskeleton mechanism is stable and achieves the purpose of assisting and meets the design requirements.
作者
曹宇飞
樊军
CAO Yufei;FAN Jun(College of Mechanical Engineering,Xinjiang University,Urumqi 830047)
出处
《现代制造技术与装备》
2018年第6期43-44,共2页
Modern Manufacturing Technology and Equipment
关键词
下肢外骨骼
动力学模型
人-机联合模型
负重
仿真
lower extremity exoskeletons
dynamic model
man-machine joint model
weight-bearing
simulation
