下肢外骨骼机器人人机约束模型建立及分析

摘要

设计了一种下肢助力外骨骼机器人，建立了人体下肢与外骨骼机器人的人机系统模型，提出两种人机约束方案，并建立了D－H坐标系，根据同一约束点在不同坐标系变换后相对于原点距离不变的原理，建立了各人机约束方案的约束方程，从理论上分析了下肢外骨骼机器人对人体运动的跟随效果。分析结果表明，通过这种方法可以得到不同约束情况下下肢外骨骼机器人对人体运动的跟随情况，合理设计人机约束方案，能够实现下肢外骨骼机器人对人体运动的同步跟随。%It introduces the design of a lower extremity exoskeleton booster robot .It establishes a ergonomics re-strictions model of human lower extremity exoskeleton robot , defines the D-H coordinate system , describes two kinds of ergonomics restrictions solution .Based on the principle of the distance from origin for one constraints point in different coordinate transformation , it deduces the constraint equations , obtains the effect of lower ex-tremity exoskeleton robot to follow the movement of the human body .The analysis shows that the method can ob-tain the different constrained conditions of lower extremity exoskeleton robot for human motion , help design the rational ergonomics restrictions program and lower extremity exoskeleton robot for follow the movement of the hu -man body .