下肢外骨骼机器人人机腿部约束分析

摘要

The robot is driven by the human in swing. in order to get the design criterion of the leg restraint, first,according to establishing the dynamic model and based on force minimum principle and the theory of ergonomics, it get the location and shape of the leg straps. Then, it analysis the following motion of exoskeleton robot on ADAMS and the results show that exoskeleton robot movement consistent with the human body almostly . Finally, through the experimental device to test the man-machine leg force and compared with the theoretical calculation, verify that the robot in swing driven by human in accord with the principle of human machine engineering.%外骨骼机器人摆动态由人体带动,为得到人机腿部约束设计准则,首先,对人机摆动态建立动力学模型,基于人机间作用力最小原则及人机工程学理论确定腿部绑带位置和绑带形状.其次,通过adams对尼龙材料的绑带结构带动外骨骼机器人进行随动性能仿真分析,仿真结果表明,外骨骼机器人的运动基本与人体运动一致.最后,对原理样机的人机腿部作用力进行实验检测,并与理论计算进行对比,验证外骨骼机器人摆动态由人体带动符合人机工程学原理.