基于ZMP的多姿态多功能下肢辅助装置设计及稳定性分析  

Design and stability analysis of the multi-pose and multi-function lower limb assist device based on ZMP

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作  者:周晓晨 孙田雪 张保旭 贾丙琪 赵彦峻[1,3] ZHOU Xiaochen;SUN Tianxue;ZHANG Baoxu;JIA Bingqi;ZHAO Yanjun(School of Mechanical Engineering,Shandong University of Technology,Zibo 255049,China;School of Mechanical Engineering,Guangxi University,Nanning 530004,China;Shandong Key Laboratory of Precision Manufacturing and Special Processing,Zibo 255049,China)

机构地区:[1]山东理工大学机械工程学院,淄博255049 [2]广西大学机械工程学院,南宁530004 [3]山东省精密制造与特种加工重点实验室,淄博255049

出  处:《机械传动》2025年第2期145-153,共9页Journal of Mechanical Transmission

基  金:国家自然科学基金项目(51905319);国家自然科学基金青年基金项目(51505263)。

摘  要:【目的】为解决下肢运动功能障碍患者出行困难的问题并促进下肢功能恢复,设计了一款多姿态多功能下肢辅助装置,提供代步、辅助起立和下肢康复训练功能。【方法】通过Ansys软件进行静力学仿真,评估装置在使用时的安全性;建立下肢外骨骼运动学及动力学模型,得到各关节的空间位姿和理论力矩,为后续样机制作提供理论支持;构建人体-辅助装置系统“零点力矩”(Zero-Moment Point, ZMP)位置模型,计算理论ZMP点,并将虚拟样机导入Adams软件中仿真,得到支撑足位置变化;通过比较ZMP点与支撑足位置验证装置的稳定性并搭建实物样机。【结果】对比仿真与试验数据证实了样机设计的合理性,为后续研究提供了依据。[Objective]To address the difficulty of traveling for patients with lower limb motor dysfunction and promote the recovery of lower limb function,a multi-posture,multi-functional lower limb assistive device was designed,offering functions for mobility,assisted standing and lower limb rehabilitation training.[Methods]The static simulation was conducted using Ansys software to assess the safety of the device during use;the kinematics and dynamics models of lower limb exoskeleton were established to obtain the spatial posture and theoretical torque of each joint,providing theoretical support for the subsequent prototype fabrication;the"Zero-Moment Point"(ZMP)position model of the human body-assist device system was established,the theoretical ZMP was calculated,and the virtual prototype was imported into Adams software for simulation to obtain the variation in the supporting foot position,the stability of the device was validated by comparing the positions of ZMP and the supporting foot;the physical prototype was constructed.[Results]The rationality of the prototype design was validated by comparing simulation and experimental data,providing a basis for subsequent research.

关 键 词:下肢外骨骼 结构设计 ZMP 仿真分析 

分 类 号:TH789[机械工程—仪器科学与技术]

 

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