针对日益加重的人口老龄化问题,采用动力外骨骼技术,设计出一种用于辅助老年人生活的服务型机器人——人体下肢动力外骨骼,通过Workbench对髋部支撑连杆和大腿杆件进行了拓扑优化和多目标参数优化,重新对其结构进行了设计,分析了3种不同站立姿态的变形和应力,可知膝关节附近的结构设计对下肢动力外骨骼装置的力学性能具有非常明显的影响,在设计时需重点考虑,研究结果为下肢动力外骨骼装置的结构设计和改进提供了新的思路和理论依据.%The kind of device of human lower limb exoskeleton rehabilitation robot is a kind of service robot,which is designed to be used for assisting the life of old people,based on the powered exoskeleton technology, aimed at the increasingly serious aging prob-lem in population. The structure of the support link of the hip and the leg linkage were redesigned on account of the results of shape to-pology optimization and goal driven optimization in the Workbench software.The deformation and stress of three kinds of different stand-ing posture were analyzed. It was known that the structure design of the knee joint provided a very obvious effect for the lower limb exo-skeleton. The structure of the knee joint should be main consideration in the design process. The study results can provide a new idea and theoretical basis for the design and improvement of human lower limb exoskeleton.
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