高技术通讯2013，Vol.23Issue(1)：66-73,8.DOI:10.3772/j.issn.1002-0470.2013.01.011
助行机器人助行机构动力学分析及实验研究
Dynamics analysis and experimental research on a walking assistance mechanism for walking assistance robots
摘要
Abstract
To help the patients with lower limb dysfunction achieve normal walking function, a new walking assistance mechanism with a double-crank rocker was designed for walking assistance robots. The new mechanism uses only one actuator to achieve its motion control, and it can control the coordinated motion of thighs and shanks. Based on the mechanical analysis of the mechanism, a dynamic model of the mechanism was established using the simultaneous constraint method. The kinematics simulation and the dynamics simulation of the mechanism were conducted, and based on them, the turning angles of lower limb joints, the moving trajectories of lower limbs and the desired driving torque during one gait cycle were all obtained, providing the basis for mechanical design and optimization design of control system actuators. The walking training experiment research was finished using the physical prototype. The simulation analysis and experimental results show that with the help of the new walking assistance mechanism, the movement of patients' legs conforms to normal walking gait characteristic curves. The mechanism can realize correct trajectory and continuous gait.关键词
助行机器人/动力学/康复训练/力学分析Key words
walking assistance robot/ dynamics/ rehabilitation training/ dynamics analysis引用本文复制引用
张立勋,白大鹏,伊蕾..助行机器人助行机构动力学分析及实验研究[J].高技术通讯,2013,23(1):66-73,8.基金项目
863计划(2008AA040203)和国家自然科学基金(61175128)资助项目. （2008AA040203）
