一种骑乘式下肢助行器结构设计与仿真分析

The structure design and simulation analysis of a riding lower limb assisted walker

为了帮助老年人或腿脚无力人员行走,设计了一种骑乘式下肢助行器。首先将设计的机构在三维软件SolidWorks中制作成实体零件,并组装成装配体得到虚拟样机,然后对助行器在平地上进行助力行走的步态分析,求出助行器平稳助力行走时的各关节角变化规律,最后使用虚拟样机技术在ADAMS环境中将关节角变化规律用于样机的运动仿真分析。仿真结果表明,助行器虚拟样机能够稳定、适时的助力行走,验证了设计的功能和有效性。同时,也为下一步的选型优化和驱动控制研究奠定了基础。

In order to help the elderly or those who are unable to walk,a kind of riding lower limb assisted walker has been designed.Firstly,the designed mechanism has been made into solid parts in 3D software SolidWorks,and assembled into an assembly to obtain a virtual prototype.Then,the gait analysis of the walker on the flat ground has been carried out to find out the change rule of each joint angle of the walker when walking steadily with the help of the walker.Finally,the joint angle variation rule has been applied to the motion simulation analysis of virtual prototype in ADAMS environment.The simulation results show that the virtual prototype of walker can assist walking steadily and timely,which verifies the function and effectiveness of the design.Meanwhile,it also lays a foundation for the next step selection optimization and driving control research.