骑乘式下肢助行器结构与运动仿真研究  

Research on Structure Design and Motion Simulation of Riding Lower Limb Walker

作　　者：王晓伟[1] 高胜鲁 陈旭 WANG Xiaowei;GAO Shenglu;CHEN Xu(School of Mechanical and Electrical Engineering,Shandong Jianzhu University,Jin'an 250101,China)

机构地区：[1]山东建筑大学机电工程学院,济南250101

出　　处：《机械科学与技术》2024年第6期984-990,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金面上项目(51675314)。

摘　　要：随着我国老龄化程度日益加剧,面向越来越多的老年人辅助行走需求设计了一种骑乘式下肢助行装置并进行了运动学仿真。通过对人体下肢运动特征分析进行助行器自由度分配,建立助行器减负模型并验证其可行性;建立助行装置实体建模;利用标准D-H法对助行器摆动相进行运动学分析;基于OpenSim开源软件编写人体下肢角位移驱动函数,利用虚拟样机技术进行运动学仿真得到助行器关节角位移曲线。仿真结果表明,该骑乘式下肢助行器与人体具有较好的物理耦合性。With the increasing aging degree in China,for meeting more and more elderly people needs,a ride-by-ride walking aid device for lower limbs is designed and kinematics simulation is carried out.Firstly,the degree of freedom of the walking aid is allocated by analyzing the characteristics of human lower limb movement,and the weight reduction model of the walking aid is established and its feasibility is verified.Secondly,the entity modeling of the walking aid device is established.Then the standard D-H method is used to analyze the kinematics of the swing phase of the walker.Finally,the human lower limb angular displacement drive function is written based on OpenSim open source software,and the kinematics simulation is carried out with virtual prototyping technology to obtain the angular displacement curve of the walker joint.The simulation results show that the riding lower limb walker has good physical coupling with the human body.

关 键 词：助力行走 结构设计 减负原理 运动学仿真 

分 类 号：TH122[机械工程—机械设计及理论]