下肢外骨骼助力机器人本体结构设计与运动学分析

摘要

To extend the power of the lower limb and complete the human-machine tasks under the specific environment,a wearable power-assisted lower extremity exoskeleton has been designed and developed as a coherent robot.Based on biomechanical characteristics of human walking,the paper describes the mechanism design of the exoskeleton robot and the kinematics of the robot is analysed.According to simulation in ADAMS,the joints of the exoskeleton and ranges of actuators are matched and optimized,all which could achieve the representative of human movement-squat.Walking margins are reserved for the power-assisted robot on ranges of motion.Therefore,the experimental results of the virtual prototype show that the proposed design for the exoskeleton is feasible and effective.%下肢外骨骼助力机器人是一种可以拓展人体关节机能,并可在特殊环境下作业的人机共融型机器人.基于人体下肢生物力学特点,阐述了下肢外骨骼助力机器人的机构设计原理及过程,分析了外骨骼机构的运动学关系,通过ADAMS匹配外骨骼与关节驱动范围并进行了机构优化,可以完成人体的代表性深蹲动作,为外骨骼助力行走留有较大的关节运动裕量,虚拟样机联合仿真也验证了外骨骼助力机器人的设计可行性.