下肢外骨骼机器人机构设计及有限元分析  

作　　者：王洁 李健[1] 梁鹏[1] 王宇[1] 杨家春 谢国安 

机构地区：[1]广西科技大学,广西柳州545616

出　　处：《科技创新与应用》2023年第28期40-43,共4页Technology Innovation and Application

摘　　要：为解决因脑卒中、偏瘫等疾病引起的下肢运动功能障碍,设计并研发一款具有下肢外骨骼机构、动态减重机构、跑台于一体的跑台式下肢外骨骼康复机器人,辅助下肢运动功能障碍患者进行步态训练,恢复运动功能。基于有限元(Abaqus)的方法分析人体步态极限位置外骨骼机构的受力情况,并进行静力学分析,观察其不同状态下所受的应力、应变情况,根据所选材料和结构分析其结果。结果表明,外骨骼机构强度和刚度满足设计的安全性和合理性。In order to solve the lower limb motor dysfunction caused by stroke,hemiplegia and other diseases,the design and development of a lower limb exoskeleton with a lower limb exoskeleton mechanism,dynamic weight reduction mechanism,running platform in one of the running table lower limb exoskeleton rehabilitation robot,to assist patients with lower limb motor dysfunction for gait training,recovery of motor function.Based on the finite element method(Abaqus),the stress of the human gait limit position exoskeleton mechanism was analyzed,and the statics analysis was carried out to observe the stress and strain under different states,and the results were analyzed according to the selected materials and structures.The results show that the strength and stiffness of the exoskeleton mechanism satisfy the safety and rationality of the design.

关 键 词：下肢康复 外骨骼机构 有限元分析 结构刚度 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]