摘要
下肢康复外骨骼机器人是一种可以辅助脑卒中导致运动功能障碍患者肢体运动和康复训练的机器人。基于人体下肢生物力学特点,提出了下肢外骨骼机器人设计方案,研究了下肢康复外骨骼机器人的机构设计原理及过程。针对外骨骼髋关节的关键零件设计进行详细阐述,研究了准拟人化设计的比例参数,使用了拓扑优化方法对膝关节电机架进行轻量化设计。基于D-H法分析了外骨骼机构的运动学关系,得到坐标转换矩阵。通过ADAMS软件进行运动学仿真,验证了运动学分析的可靠性。
To assist limb movement and rehabilitation in patients with motor dysfunction caused by stroke,a lower limb rehabilitation exoskeleton robot has been designed.Based on biomechanical characteristics of human walking,a design scheme of lower limb rehabilitation exoskeleton robot was proposed,and the mechanism design principle and process of lower limb rehabilitation exoskeleton robot were studied.The paper describes the key part of the exoskeleton,hip joint.The paper describes lightweight design using topology optimization.Based on D-H method,the kinematic relationship of exoskeleton mechanism was analysed,and coordinate transformation matrix was obtained.Kinematics simulation with ADAMS software to verify the reliability of kinematics analysis.
作者
曹慧林
于随然
CAO Huilin;YU Suiran(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)
出处
《机械设计与研究》
CSCD
北大核心
2020年第4期12-17,共6页
Machine Design And Research
基金
国家自然科学基金资助项目(51875358)。
关键词
下肢康复外骨骼
机构设计
运动学分析
运动学仿真
lower limb rehabilitation exoskeleton
mechanical design
kinematics analysis
kinematics simulation
