摘要
为了加快人体下肢损伤的康复速度,防止下肢瘫痪者肌肉萎缩,设计了一个高效实用的下肢康复外骨骼机器人。通过研究人体运动机理以及收集人体各关节运动数据,以舒适、高效及适宜不同体型人群为目标建立外骨骼的3D模型,并推导出下肢外骨骼的D-H数学模型公式,建立髋关节,膝关节,踝关节的位姿坐标方程。以ADAMS软件为基础进一步对外骨骼机器人进行关节受力和步态合理性仿真,为实物的搭建提供可行性依据。最后搭建样机实验平台验证外骨骼设计的合理性。
In order to speed up the recovery of the lower limb injury and prevent muscl-e atrophy in lower limb paralysis,a efficient and practical lower exoskeleton rehabilitation robot was designed. By researching human motion mechanism and collecting data of Human joints,establish the 3D model of lower exoskeleton rehabilitation robot. By derive the formula of D-H mathematical model of lower exoskeleton,the coordinate equations of hip joint,knee joint and ankle joint are established. Based on the ADA-MS software,we we carried out simulation analysis of the Joint force and rationality of gait of the exoskel-eton robot. Finally, the prototype experimental platform was built to verify the rationality of the simulation.
作者
赵慧
周爽
刘访
ZHAO Hui;ZHOU Shuang;LIU Fang(Key Laboratory of Metallurgical Equipment and Control Technology(Wuhan University of Science and Technology),Ministry of Education,Hubei Wuhan 430070,China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering(Wuhan University of Science and Technology),Hubei Wuhan 430070,China)
出处
《机械设计与制造》
北大核心
2019年第7期237-240,共4页
Machinery Design & Manufacture
