一种多自由度可调节下肢康复外骨骼的设计与仿真  

Design and Simulation of a Multi Degrees of Freedom Adjustable Exoskeleton for Lower Limb Rehabilitation

作　　者：魏笑 毕文龙 李亚男 许倍豪 赵彦峻[1] Wei Xiao;Bi Wenlong;Li Yanan;Xu Beihao;Zhao Yanjun(School of Mechanical Engineering,Shandong University of Technology,Zibo 255049,China)

机构地区：[1]山东理工大学机械工程学院,山东淄博255049

出　　处：《机械传动》2024年第1期61-66,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金面上项目(51875326);山东省高等学校科技计划项目(J15LB08)。

摘　　要：针对下肢受损、脑卒中等患者的康复训练,设计了一款多自由度可调节下肢康复外骨骼,利用丝杆机构代替传统腿部结构,并在腰部设有转动模块,能更好地实现人机协同。采用拉格朗日方法建立下肢外骨骼动力学模型,并计算了理论转矩;构建了下肢康复外骨骼模型,利用Ansys和Adams软件分别进行了有限元仿真和外骨骼运动学/动力学仿真。结果验证了结构设计的合理性,为后续下肢外骨骼制造与电动机选型提供了依据。Aiming at the rehabilitation training of patients with lower extremity damage and stroke,a multi-degree-of-freedom adjustable lower extremity rehabilitation exoskeleton is designed.The screw mecha⁃nism is used to replace the traditional leg structure,and there is a rotation module at the waist,which can better realize the human-machine collaboration.The lower extremity exoskeleton dynamics model is established by the Lagrangian method,and the theoretical torque is calculated;the lower extremity rehabilitation exoskeleton mod⁃el is constructed,and the finite element simulation and exoskeleton kinematics/dynamics simulation are carried out using Ansys and Adams software,respectively.The results verify the rationality of the structural design,and provide a basis for the subsequent lower limb exoskeleton manufacturing and motor selection.

关 键 词：外骨骼 结构设计 动力学建模 仿真分析 

分 类 号：TH789[机械工程—仪器科学与技术]