基于被动行走原理的无动力外骨骼结构设计

Structure Design of Powerless Exoskeleton based on Passive Walking Principle

基于被动行走原理,建立了被动两杆行走模型,推导了系统动力学方程并进行了数值求解。在此基础上,设计了4种能量转化模块及被动助力关节。结合人体工程学,设计了无动力外骨骼结构并进行了运动学仿真。利用理论研究成果,加工了原理样机,进行了相关测试及实验。

Based on the principle of passive walking,a passive two-bar walking model is established,thesystem dynamics equation is derived and the numerical solution is carried out. On this basis,four energy conver-sion modules and passive assistant power joints are designed. Combining ergonomics,a powerless exoskeletonstructure is designed and kinematics simulation is carried out. Using the theoretical research results,a principleprototype is processed,and the related tests and experiments are carried out.