下肢康复外骨骼机器人动力学分析及仿真  

Dynamics Analysis and Simulation of Lower Limb Rehabilitative Exoskeleton Robot

作　　者：程思远 陈广锋[1] 王琳霞 傅灵逍 CHENG Siyuan;CHEN Guangfeng;WANG Linxia;FU Lingxiao(College of Mechanical Engineering,Donghua University,Shanghai 201620,China)

机构地区：[1]东华大学机械工程学院

出　　处：《东华大学学报（自然科学版）》2019年第6期899-905,917,共8页Journal of Donghua University(Natural Science)

基　　金：国家重点研发计划资助项目（2017YFB1304000）

摘　　要：设计了一款下肢康复外骨骼机器人,为探究该机器人各关节所需驱动力大小及规律,基于机器人的组成结构建立动力学模型,并对各关节的力矩进行详细分析。将机器人CAD(computer aided design)模型导入ADAMS(automatic dynamic analysis of mechanical systems)中对其进行步态仿真分析,进而得到下肢各个关节处的转矩变化规律及大小,同时将所得力矩代入模型中进行仿真。通过对比关节角度信息,验证结果的正确性,为后续控制系统设计及电机选型提供了参考。A lower limb rehabilitative exoskeleton robot was designed.On the basis of the robot structure,a dynamic model was established to explore the size and law of driving force,and the torque of each joint was analyzed in detail through this model.The CAD(computer aided design)model of robot was introduced into ADAMS(automatic dynamic analysis of mechanical systems)for simulation analysis of its gait.Therefore,the torque change rules and sizes at each joint of the lower extremities were obtained.At the same time,the torque was applied into the model for simulation,and the the result was verified by comparing the joint angle information.This study can provide a reference for the design of follow-up control system and the selection of motor type.

关 键 词：下肢康复外骨骼机器人 动力学分析 动力学仿真 机械系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]