一种可穿戴下肢外骨骼机器人的结构设计与仿真

Structure design and simulation of wearable lower limb exoskeleton robot

针对外骨骼机器人灵活性不高、运动范围不足的问题,根据人体下肢的运动特点及骨骼结构,采用仿生学原理设计了一款具备高度灵活性且能助力人体下肢运动的下肢外骨骼机器人,并详细说明了其主要关节的机构设计原理。利用D-H参数法对下肢外骨骼机器人进行了运动学建模,并做出了正运动学求解,为机构设计提供了理论上的依据。运用SolidWorks软件对下肢外骨骼机器人进行了三维建模仿真,并将该模型导入ADAMS软件进行了运动学仿真分析。结果表明,机构模型设计合理,对实物模型的建立与控制模块的研究具有指导作用。

Aiming at the problem of low flexibility and insufficient range of motion of rigid exoskeleton robots,a lower limb exoskeleton robot that is highly flexible and can help the lower limbs of the human body has been designed in this paper using the bionics principle according to the movement characteristics and skeletal structure of the lower limbs,and the mechanism design principles of the main joints were explained in detail.The kinematics modeling of the lower limb exoskeleton robot was carried out using the D-H parameter method,and the positive kinematics solution was solved.The three-dimensional modeling and simulation of the lower limb exoskeleton robot was performed by SOLIDWORKS software and the model was further imported into ADAMS software for kinematics simulation analysis.The result shows the rationality of the mechanism model design,and has a guiding role for the establishment of the physical model and the research of the control module.