单兵装甲下肢外骨骼机器人设计与仿真分析  

Design and Simulation Analysis of Individual Soldier Armored Lower Extremity Exoskeleton

作　　者：晁智强[1] 王飞[1,2] 张传清[1] 韩寿松[1] 

机构地区：[1]装甲兵工程学院机械工程系 [2]66336部队

出　　处：《装甲兵工程学院学报》2015年第6期53-57,共5页Journal of Academy of Armored Force Engineering

摘　　要：设计了一种针对军事用途的单兵装甲下肢外骨骼机器人(Individual Soldier Armored Lower Extremity Exoskeleton,ISALEE),发挥人与机械各自优势,提高士兵在执行任务过程中的承载能力。通过建立5连杆模型,对人体行走步态及下肢自由度进行了分析。利用零力矩点(Zero Moment Point,ZMP)稳定判据,分析单兵装甲下肢外骨骼的动态稳定性,并对步态进行规划。最后利用CAD软件Solidworks和动力学仿真软件ADAMS对单兵装甲下肢外骨骼进行虚拟样机建模和仿真。仿真结果验证了利用ADAMS虚拟样机进行结构设计的可行性,并为液压驱动元件的选型和减小膝关节负载压力的设计提供了理论依据。An Individual Soldier Armored Lower Extremity Exoskeleton( ISALEE) is designed for military,which takes advantages of human and machine to improve carrying capacity of soldiers during missions. The human lower extremity's gait and degrees of freedom are analyzed with 5-links model. According to Zero Moment Point( ZMP) stability criterion,ISALEE's dynamic stability is analyzed,and its gait is planned. Finally,the modeling and simulation of ISALEE virtual prototype are performed with CAD software Solidworks and dynamic simulation software ADAMS. The simulation result shows that structure design of the exoskeleton is reasonable with ADAMS virtual prototype,which provides theoretical basis for selecting hydraulic drive components and reducing load of knee.

关 键 词：下肢外骨骼 零力矩点 步态规划 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]