助蹲助起下肢外骨骼的设计与研究  

Design and research of exoskeleton for squatting and lifting lower limbs

作　　者：鲁浩 朱坚民[1] LU Hao;ZHU Jianmin(University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学,上海市200093

出　　处：《农业装备与车辆工程》2023年第4期98-103,共6页Agricultural Equipment & Vehicle Engineering

摘　　要：以人体蹲-起过程为研究对象,通过对人体蹲-起过程进行拉格朗日动力学建模,得到两者的髋、膝、踝关节力矩的动力学逆解结果。依据人体蹲-起过程的关节运动机理,参照人体工学设计要求,设计了一款辅助蹲-起下肢外骨骼,进而进行各关节仿生学结构设计和驱动系统设计。通过对膝关节驱动器的功率分析及静力学分析,确保辅助蹲-起下肢外骨骼在结构轻巧、可穿戴性、可靠性等方面均能满足辅助蹲-起下肢外骨骼的总体要求。Taking the squat-up process of the human body as the research object,through the Lagrangian dynamics modeling of the human squat-up process,the dynamic inverse solution results of the hip,knee and ankle moment of the two processes are obtained.According to the joint motion mechanism of the human body squat-up process,and referring to the ergonomic design requirements,an lower limb exoskeleton for auxiliary squatting is designed,and then the bionic structure design and driving system design of each joint are carried out.Through the power analysis and static analysis of the knee joint driver,it is ensured that the lower limb exoskeleton for assisting squatting can meet the overall requirements of the assisted squatting lower limb exoskeleton in terms of lightness,wearability and reliability.

关 键 词：蹲起过程 动力学模型 外骨骼 结构设计 静力学分析 

分 类 号：R318.01[医药卫生—生物医学工程]