机电工程技术2025，Vol.54Issue(8)：104-110,134,8.DOI:10.3969/j.issn.1009-9492.2024.00122
一种新型下肢康复外骨骼机器人的结构设计和仿真分析
Structural Design and Simulation of a Novel Exoskeleton Robot for Lower Limb Rehabilitation
摘要
Abstract
For the rehabilitation training of people with lower limb movement disorders,a new type of lower limb exoskeleton robot with multiple degrees of freedom is designed.The degrees of freedom of the exoskeleton match with the human movement characteristics,the flexibility requirements,and a variety of size adjustments,which make the exoskeleton have better applicability.The kinematic model of the exoskeleton is constructed using the D-H parametric method,and the position transformation matrix of each joint is obtained,and the accuracy of the model is verified;the dynamics model of the exoskeleton is constructed using the Lagrangian method,and the equations of the theoretical moments are obtained,which provide a basis for the subsequent MATLAB theoretical calculations;the three-dimensional model of the exoskeleton is imported into Adams,and the dynamics simulation is accomplished,and the simulated data are compared with the theoretically calculated data to verify that the exoskeleton has better applicability.The simulation data are compared with the theoretical data to verify the rationality of the exoskeleton structural design and the accuracy of the kinetic model;the human body model is established for wearing simulation,and the results show that the exoskeleton can be designed to closely fit and follow the natural gait of the human body.关键词
下肢外骨骼/结构设计/运动学/动力学/仿真分析Key words
lower-limb exoskeleton/structural design/kinematics/dynamics/simulation analysis分类
信息技术与安全科学引用本文复制引用
左扬远,徐英帅,陈肖阳,严恒学,熊善力..一种新型下肢康复外骨骼机器人的结构设计和仿真分析[J].机电工程技术,2025,54(8):104-110,134,8.基金项目
江西省自然科学基金(2021BAB204001) （2021BAB204001）
江西省教育厅科学技术研究项目(GJJ2200724) （GJJ2200724）
创新创业教育实践基地建设项目(2022ZX08) （2022ZX08）
