下肢外骨骼机器人结构设计与运动稳定性研究

Structural Design and Motion Stability Study of Lower Extremity Exoskeleton Robot

为帮助下肢瘫痪人群恢复行走功能,设计出一款下肢外骨骼机器人。依据人体运动机制对各个关节的自由度进行了设计,确定了主动关节和被动关节类型并选用合适的驱动方式,详细介绍了主要部位的结构设计。论述了机器人的工作机制以及工作方式。建立下肢外骨骼机器人的连杆模型,规划出关节运动轨迹并求解出各个关节旋转运动曲线。利用ADAMS仿真软件将所规划的步态曲线进行仿真分析,仿真结果表明:各个关节运动曲线柔顺平滑,无明显冲击。在一个周期内,与理论计算值相比,各个关节的角度仿真值误差均小于±1.5°,在合理误差范围之内。利用COG理论验证步态轨迹的动态稳定性,证明了所规划的步态曲线的合理性。

A lower extremity exoskeleton robot is designed in order to help the lower limbs to restore the walking function of paralyzed people.According to the human body motion mechanism,the degree of freedom(DOF)of each joint was designed.The active joint and passive joint types were determined and the appropriate driving method was selected.The structural design of the main part was introduced in detail.The working mechanism and working mode of the robot were discussed.The linkage model of the lower extremity exoskeleton robot was established,and the joint motion trajectory was planned and the rotation motion curves of each joint were further solved.The gait curve of the plan was simulated and analyzed by the simulation software ADAMS.The simulation results show that the motion curves of each joint are smooth and without obvious impact.Comparing with the theoretical calculation value in one cycle,the error value of the angle simulation value of each joint is less than±1.5°,within the reasonable error range.The curve-of-growth(COG)theory is used to verify the dynamic stability of gait trajectories and the rationality of the planned gait curve is also proved.