基于ADAMS下肢外骨骼刚柔耦合分析及仿真

Rigid-Flexible Coupling Analysis and Simulation of Lower Extremity Exoskeleton Based on ADAMS

为了达到人体下肢康复的目的,对人体下肢外骨骼的周期步态进行研究。采用SolidWorks软件对人体下肢外骨骼进行三维建模,利用ADAMS和ANSYS软件对人体下肢外骨骼进行刚柔耦合动力学联合仿真,验证了模型的准确性,得出柔性比刚性更为符合人体的运动特点,并确定了耦合模型的危险应力节点,为人体腿部假肢和下肢外骨骼机器人电机的选型提供参考,也为下肢外骨骼的优化设计提供了依据。

In order to achieve the goal of rehabilitation of human lower limbs,the periodic gait of human lower extremity exoskeleton was studied.Three-dimensional modeling of human lower extremity exoskeleton was performed using SolidWorks software.The ADAMS and ANSYS software were used to simulate the rigid-flexible coupling dynamics of human lower extremity exoskeleton,which verified the accuracy of the model.It is concluded that the flexibility is more in line with the movement characteristics of the human body,and the dangerous stress nodes of the coupled model are determined,which provides a reference for the selection of the human leg prosthetic and lower extremity exoskeleton robot motors,and also provides the basis for the optimal design of the lower extremity exoskeleton.