助力外骨骼机器人结构设计与运动学建模分析  

Structural design and kinematics modeling analysis of power-assisted exoskeleton robot

作　　者：乔俊淋 郑德维 胡梓惟 李想[1] 王奎成 王克义[1] QIAO Junlin;ZHENG Dewei;HU Ziwei;LI Xiang;WANG Kuicheng;WANG Keyi(School of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001;School of Aerospace and Architecture,Harbin Engineering University,Harbin 150001)

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学航天与建筑学院,黑龙江哈尔滨150001

出　　处：《机械设计》2024年第1期21-27,共7页Journal of Machine Design

基　　金：国家自然科学基金(52175006);黑龙江省自然科学基金(LH2023E064)。

摘　　要：为了实现日常生活助力功能,文中设计了轻型柔性助力外骨骼机器人的结构,下肢关节采用了主动驱动与被动储能元件相结合,膝关节设置驱动模块,髋和踝关节采用被动储能元件,根据仿生学原理设计人机绑缚装置,并对被动关节进行了节能验证,仿真结果验证了助力外骨骼机器人结构设计的可行性与助力功能的有效性。使用D-H方法建立了外骨骼机器人下肢运动学模型,以Opensim内的正常行走的关节角步态数据作为输入进行了正逆运动学的求解分析。建立外骨骼机器人的三维模型,添加行走时与地面的约束,进行物理模型的运动学仿真,结果证明了外骨骼机器人运动分析的可靠性。In this article,efforts are made to design a power-assisted exoskeleton robot,which is lightweight and flexible,for the purpose of daily assistance.The lower-limb joints are equipped with the active drive and the passive energy-storage elements;the knee joint is equipped with the drive module;the hip and ankle joints are equipped with passive energy storage elements.The human-machine binding device is designed according to the bionics principle,and energy saving of the passive joints is verified.The simulation results have verified that the power-assisted exoskeleton robot is feasible in the structure design and effective in the function of power assistance.The D-H method is used to set up the kinematics model of the exoskeleton robot’s lower-limb;the gait data on the joint angle’s normal walking in Opensim is taken as the input to carry out the forward and inverse kinematics analysis.The 3D model of the exoskeleton robot is set up,the ground constraints of the robot’s walking are added,and the physical model is subject to kinematics simulation.These results have proved that the analysis on the exoskeleton robot’s motion is reliable.

关 键 词：助力外骨骼 结构设计 运动学建模 运动学分析 

分 类 号：TH122[机械工程—机械设计及理论] TH128