下肢助行外骨骼结构设计与仿真分析  

Design and Simulation Analysis of Lower Limb Walking Exoskeleton Structure

作　　者：贾宁庭 尚雅层[1] 来跃深[1] 常宏 JIA Ningting;SHANG Yaceng;LAI Yueshen;CHANG Hong(School of Mechatronic Engineering,Xi’an Technological University,Xi’an 710021,China;Xi’an Polaris ETek Electronic Technology Co.,Ltd.,Xi’an 710399,China)

机构地区：[1]西安工业大学机电工程学院,西安710021 [2]西安北辰亿科电子科技有限公司,西安710399

出　　处：《机械工程师》2024年第2期24-27,共4页Mechanical Engineer

摘　　要：外骨骼机器人作为当下国内外的研究热点之一,其研究过程融合了机械设计、仿真分析、传感、控制等各项技术。针对当今社会对助行外骨骼的需求,文中从人体下肢结构与运动特性研究角度出发,采用模块化的方法仿人体髋关节设计了一款下肢助行外骨骼机器人。文中使用Solid Works三维软件设计了下肢助行外骨骼的三维模型,对所建立的模型进行了数学建模并通过MATLAB和ADAMS软件对外骨骼进行了仿真分析与验证。结果表明:外骨骼结构设计安全合理,能够满足实际需求。As one of the current research hotspots at home and abroad,the research process of exoskeleton robots integrate various technologies such as mechanical design,simulation analysis,sensing,control and other technologies.In response to the current social demand for walking assistance exoskeletons,this paper starts from the perspective of human lower limb structure and motion characteristics,and adopts a modular approach to simulate the human hip joint to design a lower limb walking exoskeleton robot.This paper uses SolidWorks 3D software to design a 3D model of the lower limb assisted exoskeleton.The established model is mathematically modeled and simulated,analyzed,and validated using MATLAB and ADAMS software for the exoskeleton.The results show that the exoskeleton structural design is safe and reasonable,and can meet practical needs.

关 键 词：下肢助行外骨骼 结构设计 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]