下肢外骨骼康复机器人仿真和试验分析  

Simulation and experimental analysis of lower limb exoskeleton rehabilitation robot

作　　者：曲海军[1] 李天亮 刘建慧[1] 秦小俊 杨永强 李强 王金武[3] 倪国骅 赵东亮 王建平[1] QU Haijun;LI Tianliang;LIU Jianhui;QIN Xiaojun;YANG Yongqiang;LI Qiang;WANGJinwu;NI Guohua;ZHAO Dongliang;WANG Jianping(School of Mechanical and Power Engineering,Henan Polytechnic University,Jiaozuo 454000,Henan,China;Henan Youde Medical Equipment Co.,Ltd.,Kaifeng 475500,Henan,China;Ninth People’s Hospital Affiliated to Shanghai Jiao Tong University,Shanghai 200011,China;Luoyang Orthopedic Hospital of Henan Province(Orthopedic Hospital of Henan Province),Luoyang 471000,Henan,China)

机构地区：[1]河南理工大学机械与动力工程学院,河南焦作454000 [2]河南优德医疗设备股份有限公司,河南开封475500 [3]上海交通大学第九人民医院,上海200011 [4]河南省洛阳正骨医院(河南省骨科医院),河南洛阳471000

出　　处：《河南理工大学学报（自然科学版）》2024年第3期115-124,共10页Journal of Henan Polytechnic University（Natural Science）

基　　金：中国残疾人联合会残疾人辅助器具专项项目(2021CDPFAT-14);国家自然科学基金资助项目(31370999)。

摘　　要：目的为了帮助下肢运动障碍者进行有序康复训练,设计一种下肢外骨骼康复机器人,动力源驱动下肢交叉摆动模拟人类正常步态行走,实现双下肢协调运动,帮助下肢运动障碍者完成康复训练。方法建立外骨骼机器人三维模型、下肢外骨骼机器人D-H模型,对下肢外骨骼康复机器人进行正、逆运动学分析,并将模型导入ADAMS,创建运动副与驱动函数进行运动学仿真,在此基础上制作样机并进行动力学测试试验分析。结果正、逆运动学验证了外骨骼康复机器人空间运动的合理性,ADAMS运动仿真结果与理论计算具有良好一致性,从而保证设计的下肢外骨骼结构与穿戴者下肢同步协调。仿真分析发现理论计算和仿真的误差主要来源于驱动函数误差,动作误差最大为2.15 cm。试验验证髋关节、膝关节运动与参考输入运动具有一致性。但是运动存在误差,髋关节平均误差为5.57°,膝关节平均误差为5.45°,实验发现电机扭矩不足是引起运动误差的首要因素,其次是零件加工误差和装配误差。结论通过理论计算、仿真与试验分析验证了方案的可行性,发现驱动误差、零件加工精度和装配精度可带来误差。研究结果可为进一步完善机器人性能和研究康复机器人动力学影响因素提供基础和参数依据。Objectives In order to help the patients with lower limb movement disorders to get orderly rehabilitation training,a lower limb exoskeleton rehabilitation robot was designed.The lower limb crossed swing driven by the power source can simulate normal human gait to achieve coordinated movement of both lower limbs and helped people with lower limb movement disorders complete rehabilitation training.Methods In this paper,the three-dimensional model of the exoskeleton robot was first drawn,and the D-H model of the lower limb exoskeleton robot was established.Then,the forward and inverse kinematics of the lower limb exoskeleton robot were analyzed,and the model was imported into ADAMS to create motion pairs and drive functions for kinematic simulation.On this basis,prototype was made and dynamic test and analysis was carried out.Results The forward and inverse kinematics verified the rationality of the exoskeleton robot's motion in space.Through ADMAS motion simulation,the motion simulation results were obtained and the theoretical calculation was compared to prove that the motion was consistent.The simulation results were consistent with the theoretical calculation,and the designed exoskeleton lower limb structure was synchronized with the wearer’s lower limb.The simulation analysis demonstrated that the error of theoretical calculation and simulation mainly came from the error of driving function,the maximum error was 2.15 cm.The prototype was made according to the simulation,the dynamic test and experimental analysis verified that the motion of hip and knee joints was consistent with the ideal motion.But there were also errors in motion,the average error of hip joint was 5.57°,and the average error of knee joint was 5.45°.The source of error was from,firstly,the insufficient torque of motor,secondly,the parts machining accuracy and assembly accuracy.Conclusions The feasibility of the scheme was verified by theoretical calculation,simulation and test analysis,and the errors were caused by driving errors,parts mac

关 键 词：康复 外骨骼机器人 ADAMS仿真 运动学 动力学试验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]