新型下肢外骨骼机器人动力学仿真  

Dynamics Simulation of New Exoskeleton Robot

作　　者：邓斌[1] 赵英朋 DENG Bin;ZHAO Ying-peng(Ministry of Education Engineering Research Center for Advanced Driving and Energysaving Technology,Southwest Jiao Tong University,Sichuan Chengdu 610031,China)

机构地区：[1]西南交通大学先进驱动节能技术教育部工程研究中心,四川成都610031

出　　处：《机械设计与制造》2021年第6期300-304,共5页Machinery Design & Manufacture

摘　　要：人体躯干能够根据负载重量而自适应调节前倾角度,有利于人体对下肢外骨骼的控制和人机系统行走稳定性。当超出一定负重时,躯干前倾困难。设计一种新型髋背结构,利用负重重量增加躯干前倾角度。首先分析人体步态,方便仿真时施加约束和驱动等元素;然后将人体简化为七杆模型,用Kane方法建立动力学方程,减少中间变量,提高计算效率;最后通过Adams进行动力学仿真验证。仿真得到的结果表明:承载负重之后,髋背机构能使人体躯干前倾更加省力,人机系统重心位置相比于之前接近稳定区域,并且系统重心比之前有所降低,进一步保证系统稳定。The human torso adaptive control the forward angle according to the load weight,which is beneficial to the human body to control the lower limb exoskeleton and the walking stability of man-machine system.When the load exceeds a certain range,it is difficult for the torso to lean forward.In this paper,a new type of hip back structure is designed,which is used to increase the angle of forward tilt of the trunk.Firstly,analyze the human gait,which makes it convenient to apply constraints and driving elements in simulation;And then simplify the human body into a seven-bar model,Using Kane method to establish dynamic equations,reduce intermediate variables and improve calculation efficiency;Finally,the dynamics simulation is carried out by Adams.The simulation results show that:After carrying load,the hip back mechanism can make the body lean forward and save more power,the center of gravity of man-machine system is closer to the stable region than before,and the center of gravity of the system is lower than before,which further ensures the stability of the system.

关 键 词：外骨骼 步态分析 动力学 仿真 KANE方法 

分 类 号：TH16[机械工程—机械制造及自动化]