人体负重下肢助力机械外骨骼结构设计与运动学仿真

Design and Kinematics Analysis Simulation of Power Assisted Lower Extremity Esoskeieton

机械外骨骼是一种能够与人体自身运动协调配合的复杂机械系统。从人体下肢结构和步态研究角度出发,提出并设计了一种适用于人体负重状态时的下肢助力机械外骨骼,在助力人体下肢运动的同时提高人体负载能力。设计以人体下肢结构为基础,利用Solidworks三维设计软件建立了下肢机械外骨骼的三维模型。之后通过对人体步态的分析,建立了人体下肢运动学模型,并通过matlab/simulink软件建模进行仿真分析,得到结果与CGA标准曲线对比验证模型正确,进而实现步态规划与轨迹控制。最后通过Solidworks/Motion对装置模型进行动力学仿真分析。结果表明,机构可以实现人体步态行走。

Mechanical exoskeleton is a complex mechanical system which can coordinate with human body motion. With the perspective of human legs structure and the research of giant,this paper proposes and designs a kind of a kind of mechanical exoskeleton assistant to legs applied to human body under load,which can improve human body’s load capacity when assisting the motion of human legs. Based on human leg structure,a 3D model of mechanical exoskeleton of legs is established by using Solidworks 3D design software. After the analysis of human gait,a kinematic model of human legs and simulated is established by matlab/simulink software,whose results are consistent with the CGA standard curve to verify that the model is correct with the purpose to realize the gait planning and trajectory control. Finally,it is carried out by Solidworks/Motion that the dynamic simulation of the model. The results show that it can achieve human giant walking with the mechanism.