外骨骼式下肢助行机器人结构设计及分析

Structural design and analysis of exoskeleton-type lower limb walking assistant robot

目的:设计一款仿人体下肢运动的外骨骼式下肢助行机器人,并对助行机器人的机械结构进行静力学和运动学分析。方法:该助行机器人采用伺服电动机驱动方式,通过锥齿轮换向装置使驱动电动机与大小腿构件实现平行布置方式;在小腿处设计弹簧缓冲装置,以达到减震效果。利用ABAQUS软件分析助行机器人在不同姿态时的应力和形变。利用机械系统动力学自动分析(automatic dynamic analysis of mechanical systems,ADAMS)软件对助行机器人进行运动学分析,并与D-H理论模型计算结果进行对比分析。结果:该助行机器人的应力和形变较小,形变区域主要发生在膝关节处,且各关节的位移变化与D-H模型理论计算一致。结论:该助行机器人符合人体下肢运动特征,能够为助行机器人的结构优化和控制设计提供一定的依据和参考。

Objective To design a humanoid lower limb exoskeleton-type walking assistant robot and to analyze the mechanical structure of the walking assistant robot statically and kinematically.Methods The robot was driven by a servo motor and the drive motor was arranged parallel to the thigh and shank members by means of a bevel gear reversing mechanism;a spring-loaded cushioning mechanism was equipped at the shank member to achieve vibration damping.ABAQUS software was used to analyze the stresses and deformations of the robot in different postures.Kinematics analysis of the robot developed was carried out with automatic dynamic analysis of mechanical systems(ADAMS)software,and the analysis results were compared with those by D-H theoretieal model.Results The robot developed had low stresses and deformations,with the deformation regions occurring mainly at the knee joint,and the displacement changes in each joint were consistent with the theoretical calculation results of D-H model.Conclusion The robot developed conforms to the characteristics of the human lower limb motion,and provides references for the structural optimization and control design of the walking assistant robot.