机械科学与技术2018，Vol.37Issue(4)：553-559,7.DOI:10.13433/j.cnki.1003-8728.2018.0410
下肢外骨骼助力机器人本体结构设计与运动学分析
Mechanical Design and Kinematics Analysis on a Wearable Power-assisted Robot for Lower Extremity Exoskeleton
摘要
Abstract
To extend the power of the lower limb and complete the human-machine tasks under the specific environment,a wearable power-assisted lower extremity exoskeleton has been designed and developed as a coherent robot.Based on biomechanical characteristics of human walking,the paper describes the mechanism design of the exoskeleton robot and the kinematics of the robot is analysed.According to simulation in ADAMS,the joints of the exoskeleton and ranges of actuators are matched and optimized,all which could achieve the representative of human movement-squat.Walking margins are reserved for the power-assisted robot on ranges of motion.Therefore,the experimental results of the virtual prototype show that the proposed design for the exoskeleton is feasible and effective.关键词
下肢外骨骼/助力机器人/机构设计/运动学分析Key words
lower extremity exoskeleton/power-assisted robot/mechanical design/kinematics analysis分类
信息技术与安全科学引用本文复制引用
汪步云,汪志红,许德章..下肢外骨骼助力机器人本体结构设计与运动学分析[J].机械科学与技术,2018,37(4):553-559,7.基金项目
国家自然科学基金项目(61741101)、安徽省自然科学基金项目(1608085QF154)、安徽省科技攻关项目(1604a0902125)及安徽工程大学引进人才科研启动基金(2015YQQ005)资助 （61741101）
