仿人体外骨骼髋关节并联机构位置及仿真分析  

Position and Simulation Analysis of Assisted Exoskeleton Hip Mechanism

作　　者：谢哲东[1] 张煜 陈晨 李斌 朱俊昊 XIE Zhedong;ZHANG Yu;CHEN Chen;LI Bin;ZHU Junhao(School of Engineering and Technology,Jilin Agricultural University,Changchun 130118,China)

机构地区：[1]吉林农业大学工程技术学院,长春130118

出　　处：《机械工程师》2022年第6期1-6,共6页Mechanical Engineer

基　　金：吉林省教育厅“十三五”科学技术项目(JJKH20200324KJ);吉林省科技发展计划项目(20200404218YY)。

摘　　要：下肢助力外骨骼机器人可以提供有效负载和支撑,但是目前下肢助力外骨骼机器人的髋关节存在机构单一、自由度少等问题。针对所存在的问题,提出一种可用于下肢助力外骨骼机器人的髋关节并联机构。基于螺旋理论对髋关节并联机构自由度进行分析,运用数值法对髋关节并联机构进行了位置分析,求得了位置逆解和正解。通过ADAMS对髋关节并联机构进行位置仿真,得到的结果符合人正常行走过程中髋关节外展内收-6°~4°以及内旋外旋-2°~3°的变化。用MATLAB对髋关节并联机构位置正解进行算例分析,算例分析结果绕X、Y的角度0°~-13.3069°和0°~5.2375°与仿真结果绕X、Y的角度0°~-13.573°和0°~5.343°基本一致,验证了髋关节并联机构用于下肢助力外骨骼机器人的合理性和可行性。The lower limb exoskeleton robot can provide effective load and support,but at present the hip joint of the lower limb exoskeleton robot has the problems of single mechanism and less freedom.In view of the existing problems,a kind of hip joint parallel mechanism for agricultural lower limb powered exoskeleton robot is proposed.The degree of freedom of the hip joint parallel mechanism is analyzed based on the helical theory,and the position of the hip joint parallel mechanism is analyzed by numerical method.Through ADAMS,position simulation of the parallel mechanism of hip joint is carried out,and the results obtained are consistent with the changes of hip joint abduction and addendum of-6°~4°and internal rotation and external rotation of-2°~3°during normal walking.The positive solution of the position of the parallel mechanism of the hip joint is analyzed by using MATLAB.The results of the example analysis that the angles around X and Y are 0°~-13.3069°and 0°~5.2375°are basically consistent with the simulation results that the angles around X and Y are 0°~-13.573°and 0°~5.343°,which verifies the rationality and feasibility of hip joint parallel mechanism used in lower limb power-assisted exoskeleton robot.

关 键 词：外骨骼 并联机构 螺旋理论 仿真分析 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]