下肢液压驱动助力外骨骼机构设计与运动学研究  

The Mechanical Design and Kinematics Study of Lower Limb Hydraulic Driving Exoskeleton

作　　者：周洲[1] 韩亚丽[1,2] 朱松青[1] 郝大彬[1] 时煜[1] 

机构地区：[1]南京工程学院机械工程学院,江苏南京211167 [2]东南大学机械工程学院,江苏南京211189

出　　处：《南京工程学院学报（自然科学版）》2016年第4期54-60,共7页Journal of Nanjing Institute of Technology(Natural Science Edition)

基　　金：南京工程学院机械工程省级重点建设学科开放课题项目(JXKJ201510);南京工程学院大学生科技创新基金"挑战杯"竞赛支撑项目(TZ201617002)

摘　　要：基于人体行走的生物学特征及人体各部分尺寸,设计基于液压驱动的助力外骨骼机器人机械结构;运用ADAMS软件建立机械系统多体动力学模型,验证所设计机构可行性;对外骨骼运动学模型进行分析,并结合人体标准步态设置相应的参数,得出外骨骼机器人关节角度和液压缸伸缩量的曲线,从而为上位机的调试提供理论基础.Based on biological characteristics of human walking and sizes of each part of human bodies, this paper designed a mechanical structure of assisting exoskeleton according to hydraulic driving power. The feasibility of this structure was verified by building a mechanical, multi-body dynamics model using ADAMS software. This model was then analyzed, and corresponding parameters were set based on human standard gaits. Thus, the curve of exoskeleton angles and hydraulic telescopic cylinder volume were obtained. This, accordingly, provides a theoretical basis for debugging of host computers.

关 键 词：液压 外骨骼机器人 机构设计 运动学仿真 ADAMS 

分 类 号：TH122[机械工程—机械设计及理论]