智能仿生腿结构设计与运动学建模研究

Research on Structural Design and Kinematic Modeling of Intelligent Biomimetic Legs

智能仿生腿作为下肢残缺者辅助行走的工具,用以补偿下肢截肢者残肢侧运动功能,其本体结构设计包括髋、膝、踝三个位置的结构设计。文章利用三维辅助设计软件PRO/E进行仿生腿结构设计建模研究,介绍了仿生腿的主要关节结构-髋、膝、踝三个关节的结构设计及其驱动设计过程,将人工肌肉作为仿生腿膝关节驱动方式,提高了膝关节的拟人性。通过拉格朗日方法对仿生腿的支撑相和摆动相建立运动学模型,推导并计算仿生腿运动学及动力学方程。最后,基于Matlab和Adams软件联合仿真功能进行了模型动力学仿真研究,结果证明所建立的模型可以实现假肢拟人步态。

The intelligent biomimetic leg is used as a tool for assisting walking for lower limb amputees to compensate for the lateral movement function of the amputee.Its main structural design includes three positions:hip,knee,and ankle.This article uses the 3D aided design software PRO/E to conduct modeling research on the structure design of biomimetic legs.It introduces the structural design and driving design process of the main joint structures of biomimetic legs-hip,knee,and ankle joints.It innovatively uses artificial muscles as the driving method for the knee joint of biomimetic legs,improving the anthropomorphism of the knee joint.Establishing a kinematic model for the support phase and swing phase of the biomimetic leg using the Lagrangian method,it derives and calculates the kinematic and dynamic equations of the biomimetic leg.Finally,a model dynamics simulation study was conducted based on Matlab and Adams software,and the results show that the established model can achieve prosthetic humanoid gait.