摘要
针对老年人以及下肢运动障碍患者的康复训练和运动代步的需求,设计了一种多功能下肢外骨骼机器人,利用辅助起立机构和腿部外骨骼实现对使用者下肢的康复训练。分别了建立外骨骼机器人单腿支撑阶段和双腿支撑阶段5杆模型,采用拉格朗日方法推导出动力学模型,计算各关节所需的理论力矩;建立虚拟样机模型进行动力学仿真,仿真数据与理论数据进行比较,验证了理论推导的准确性和外骨骼机器人设计的合理性,为后续电机选型提供了依据。
Aiming at the needs of rehabilitation training and movement substitution for the elderly and patients with lower limb movement disorders,a multi-purpose lower limb exoskeleton robot is designed,which utilizes auxiliary standing mechanism and exoskeleton to realize the rehabilitation training of lower limbs for users.Five-bar models of the one-leg support stage and the two-leg support stage of the exoskeleton robot are established,and the dynamics model is deduced by Lagrange method to deduce the theoretical moments required for each joint.A virtual prototype model is established to carry out dynamics simulation,and the simulation data is compared with the theoretical data to verify the rationality of the design of the exoskeleton robot with the accuracy of the theoretical deduction,which provides a theoretical basis for motor selection.
作者
贾丙琪
毕文龙
魏笑
徐国鑫
赵彦峻
孙一栋
Jia Bingqi;Bi Wenlong;Wei Xiao;Xu Guoxin;Zhao Yanjun;Sun Yidong(School of Mechanical Engineering,Shandong University of Technology,Zibo 255049,China)
出处
《机械传动》
北大核心
2021年第1期59-64,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金青年基金(51505263)
山东省科技发展计划项目(2014GGX103007)
山东省高等学校科技计划项目(J15LB08)。
关键词
下肢外骨骼
结构设计
动力学计算
仿真分析
Lower limb exoskeleton
Structure design
Dynamics calculation
Simulation analysis
