摘要
设计了一种针对偏瘫患者的轻质下肢康复外骨骼,具有质量轻、穿戴舒适等特点。依据人体结构和运动特点,设计了运动关节限位机构;根据人体运动学规律特点结合D-H分析法建立了外骨骼运动学模型,通过运动学分析推导出了各关节的空间坐标方程;进而利用拉格朗日方程对该外骨骼进行了动力学分析,得到了正常行走时各关节力矩及驱动功率,为电机选型和后续控制系统设计提供了依据。
A lightweight lower-extremity rehabilitation exoskeleton for patients of hemiplegia was designed.The motion joint limit mechanism was designed according to the structure of the human body and the characteristics of the movement.The exoskeleton kinematics model was established according to the characteristics of human kinematics and D-H analysis.The space coordinate equation of each joint was derived by kinematics analysis.Finally,the dynamic analysis of the exoskeleton was carried out by Lagrange equation.The joint torque and driving power during normal walking were obtained,which provides a basis for motor selection and subsequent control system design.
作者
朱蒙
管小荣
李杨
管陆双
夏新浩
王永敢
蔡可书
ZHU Meng;GUAN Xiaorong;LI Yang;GUAN Lushuang;XIA Xinhao;WANG Yonggan;CAI Keshu(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;Taizhou College of Shipping and Engineering,Taizhou 225300,China;The First Affiliated Hospital of Nanjing Medical University,Nanjing 210094,China)
出处
《兵器装备工程学报》
CAS
北大核心
2019年第11期160-165,共6页
Journal of Ordnance Equipment Engineering
基金
国防基础科研计划重点项目(JCKY2016209B001)
关键词
下肢康复外骨骼
动力学分析
D-H模型
驱动力矩
建模分析
lower extremity rehabilitation exoskeleton
kinetic analysis
D-H model
driving torque
modeling analysis
