下肢外骨骼仿生驱动器的设计与仿真

Design and Simulation of Lower Limb Exoskeleton Bionic Actuator

提出了一种新型仿生驱动器设计方案,用于下肢外骨骼的刚性驱动和柔性驱动模式切换,模拟人体步行过程中下肢肌肉的工作特性。首先,基于仿生特性和助力需求,设计驱动器对应的机械结构,同时介绍了驱动器工作模式;对驱动器进行动力学建模,分析不同的系统参数对系统的影响;最后,建立虚拟样机模型,利用ADAMS进行运动学仿真,仿真结果表明驱动器能够实现人体运动有效助力,验证了模型的合理性。

In this paper, a new kind of bionic actuator is proposed to simulate the working characteristics of lower limb muscles in the process of human walking. Firstly, based on the bionic characteristics and power demand, the corresponding mechanical structure design of the actuator is realized, and the working mode of the actuator is introduced;Then the dynamic modeling of the actuator is carried out to analyze the influence of different system parameters on the system;Finally, a virtual prototype model is established and the ADAMS is used for kinematics simulation. The simulation results show that the actuator can realize effective assistance for human motion, and the rationality of the model is also verified.