摘要
针对近年来老年人数量急剧增加而带来的对助老助残工具的迫切需求,从仿生的角度设计了一款外骨骼助力机器人。在确定使用推拉式软轴驱动运动关节后,首先完成了外骨骼机器人肩肘部关节等结构和机构的设计;随后对踝关节等柔性驱动进行设计,并对各个关节的活动范围进行了分析。最后在动力学仿真软件中对外骨骼机器人腿关节运动、足端运动进行了动力学分析和行走步态的运动学分析,证明了该机器人在运动平稳性和速度稳定性方面能够满足其作为助力工具的需求。
Facing with the urgent need of tools for the elderly and disable,which is brought by the rapid increase in the number of the elderly in recent years,plan to design an exoskeleton-assisted robot from a bionic angle.After determining the use of a push-pull flexible shaft to drive a motion joint,the design of mechanism and structure of shoulder and elbow joint of exoskeleton robot is completed first.Then the ankle joint and other flexible drive are designed,and the activity range of each joint is analyzed.Finally,the dynamics analysis of the leg joint and the foot joint and kinematics analysis of robot′s gait are carried out in the dynamics simulation software.In summary,as a kind of assist tool for the elderly and disable,the robot can meet the requirements of motion smoothness and speed stability.
作者
华福虎
王国庆
杨思奇
梁思瑞
屈琪峰
Hua Fuhu;Wang Guoqing;Yang Siqi;Liang Sirui;Qu Qifeng(School of Construction Machinery,Chang′an University,Xi′an 710064,China)
出处
《机械传动》
CSCD
北大核心
2018年第10期73-76,90,共5页
Journal of Mechanical Transmission
基金
陕西省工业攻关项目(2016GY-003)
关键词
外骨骼机器人
推拉式软轴
助力
仿生
Exoskeleton robot
Pull and push flexible shaft
Boost
Bionic
