通用增能外骨骼系统平台研究

Study on General Energy Augmentation Exoskeleton System Platform

如今,人口老龄化问题使得人们对帮助老年人或残疾人的日常生活有着迫切需求,针对此现象,提出基于推拉软轴传动的外骨骼助力机器人设计方案,从外骨骼机械系统的设计、Adams仿真软件对其正向运动轨迹相关参数的分析以及基于服务的通用计算平台三个方面进行研究。整体采用推拉软轴传动的思路,完成了对上肢外骨骼机械臂单臂正向运动轨迹的仿真,在外骨骼系统计算平台设计方面完成了基于服务的上肢外骨骼系统分析平台的制作。研究结果证明了该平台的可行性以及机器人在行走助力上的有效性,同时对外骨骼的低成本研究具有一定的借鉴意义。

The aging of population makes people have an urgent need to help the elderly or disabled people in their daily life.In view of this phenomenon,the design of exoskeleton assisted robot based on push-pull soft shaft drive is proposed in this paper.From the exoskeletons of mechanical system design,the Adams simulation software to its positive trajectory analysis of the relevant parameters as well as the general calculation based on the service platform,this paper studys the three aspects.On the thinking of push-pull soft shaft transmission can increase exoskeleton prototype is designed and completed the mechanical arm to arm exoskeletons one-armed positive trajectory simulation,the exoskeleton system based on service computing platform design of upper limb exoskeleton system analysis platform.