机电工程技术2025，Vol.54Issue(13)：54-58,74,6.DOI:10.3969/j.issn.1009-9492.2025.13.008
骑乘式下肢外骨骼腿杆尺寸优化与运动学仿真
Leg Size Optimization and Kinematics Simulation of Riding Style Lower Limb Exoskeleton
郝育东 1王晓伟 1解伟放 1穆俊泽 1秦宁1
作者信息
- 1. 山东建筑大学机电工程学院,济南 250101
- 折叠
摘要
Abstract
The riding lower limb exoskeleton has the problem of unstable movement,in order to make its movement more stable and the performance more excellent,the genetic algorithm is used to optimize the leg size of the riding lower extremity exoskeleton,which makes up for the problem of unstable movement of the traditional lower extremity exoskeleton.Firstly,based on the genetic algorithm,the optimal design variables,objective functions and constraints of the leg size of the riding lower extremity exoskeleton are established.The genetic algorithm is used to calculate the optimal solution of the leg size of the riding lower extremity exoskeleton.Then,the kinematics calculation of the optimized riding lower extremity exoskeleton is carried out,including the forward and inverse kinematics solution.The results of the solution are verified by the forward and inverse kinematics in the MATLAB robot toolbox.Finally,the kinematics simulation of the pre-optimization and optimized riding lower extremity exoskeleton model is carried out in ADAMS software.After the simulation,the angles of the three hip-knee-ankle joints of the pre-optimization and optimized riding lower extremity exoskeleton simulation are compared with the standard hip-knee-ankle angle.The simulation results show that the angle of each joint of the optimized riding lower extremity exoskeleton model is closer to the standard angle,and the angle error of each joint is not more than 0.1°.The center of gravity of the human body is more stable,and the rehabilitation effect of the riding lower extremity exoskeleton is improved.The optimization effect is obvious.关键词
下肢外骨骼/尺寸优化/遗传算法/运动学/仿真Key words
lower limb exoskeleton/size optimization/genetic algorithm/kinematics/simulation分类
信息技术与安全科学引用本文复制引用
郝育东,王晓伟,解伟放,穆俊泽,秦宁..骑乘式下肢外骨骼腿杆尺寸优化与运动学仿真[J].机电工程技术,2025,54(13):54-58,74,6.
