基于虚拟样机技术的外骨骼机器人机构设计

摘要

为了提高人类的负重能力，并降低人类在行进中的能量消耗，设计了一种液压驱动的可穿戴外骨骼机器人，进行了机构设计并确定了液压系统的关键参数，其中腿机构设计是关键部分。通过数学公式分析了外骨骼机器人腿部受力，并对外骨骼机器人简化模型进行虚拟仿真，确定各关节运动所需的力矩。在此基础上，完成了机器人机构和液压系统设计。最后通过虚拟样机技术，验证了机构设计参数选取的合理性及所确定的液压系统满足设计要求。%In order to improve the ability of carrying heavy loads and reduce the energy consumption of people moving un-der their way,a wearable exoskeleton robot driven by hydraulic pressure was designed in this paper. The key part in the design is the leg mechanism design. The leg stress of the exoskeleton robot is analyzed with mathematical formulas. The driving torque needed by each joint was derived based on simulations of the simplified exoskeleton robot model. On the basis of the above analysis,the designs of exoskeleton robot mechanism and the hydaulic system were completed. The virtual prototype technology was used to show that the selection of the mechanism design parameters is reasonable and the hydraulic system meets the design requirements.