人工肌肉驱动仿生腿运动学建模与仿真研究  

Kinematic Modeling and Simulation Research on Bionic Leg Driven by Artificial Muscle

作　　者：何楠 陈慧珍 He Nan;Chen Huizhen

机构地区：[1]沈阳科技学院,沈阳110168

出　　处：《装备机械》2024年第3期63-66,103,共5页The Magazine on Equipment Machinery

基　　金：辽宁省教育厅基本科研项目(编号:LIKMZ20221991)。

摘　　要：人工肌肉驱动仿生腿是一种新型智能假肢,用于补偿下肢截肢者残肢侧的运动功能。对人工肌肉驱动仿生腿进行运动学建模与仿真研究,通过拉格朗日法对仿生腿的支撑相和摆动相建立运动学模型,推导并计算仿生腿运动学及动力学方程,基于MATLAB和Adams软件进行运动学仿真。研究结果证明,所建立的人工肌肉驱动仿生腿模型可以实现假肢的拟人步态。The bionic leg driven by artificial muscle is a new type of intelligent prosthesis,which is employed to compensate the motor function of residual limb side of lower limb amputee.The kinematic modeling and simulation research on bionic leg driven by artificial muscle was carried out.The Lagrange method was used to establish the kinematics models of the support phase and the swing phase of bionic leg,the kinematics and dynamics equations of bionic leg were derived and calculated,and the kinematics simulation was carried out based on MATLAB and Adams softwares.The research result demonstrates that the established bionic leg model driven by artificial muscle can realize the anthropomorphic gait of artificial limb.

关 键 词：肌肉 仿生腿 运动学 模型 仿真 研究 

分 类 号：TH789[机械工程—仪器科学与技术]