可穿戴式的下肢助力机械外骨骼的结构设计
|
摘要
为了实现人的控制与机械力量之间的结合,使人在保留自身具备的各种优点的同时具备机械的力量、速度和耐力,更加完美地发挥人与机器的功用,设计了用于实现负荷行走功能的下肢助力机械外骨骼。基于人体下肢结构特征及行走的生物学特征,结合零点力矩理论进行分析,对机器人的结构进行简化,建立了外骨骼机器人的连杆模型,设计了相应的关节驱动,满足人体下肢基本行为动作。样机实验结果表明,此结构能够给不同体型的人穿戴,有效减轻人体负重负担。
To achieve the combination of human control and mechanical strength,in which people can be made remain their own advantages,and at the same time have mechanical strength,speed and endurance,thus giving full play to the action of people and machine,this paper designs the lower limb assisted mechanical exoskeleton to achieve the load walking function. Based on the structural characteristics of human lower limbs and the biological characteristics of walking,combined with the theory of zero point moment( ZMP),the structure of the robot is simplified,the linkage model of the exoskeleton robot is established,and the corresponding joint is designed to meet the needs of the human body lower limb basic behaviors. The experimental results show that this structure is satisfied for the different size of people'wear. It can effectively reduce the burden on the human body.
To achieve the combination of human control and mechanical strength,in which people can be made remain their own advantages,and at the same time have mechanical strength,speed and endurance,thus giving full play to the action of people and machine,this paper designs the lower limb assisted mechanical exoskeleton to achieve the load walking function. Based on the structural characteristics of human lower limbs and the biological characteristics of walking,combined with the theory of zero point moment( ZMP),the structure of the robot is simplified,the linkage model of the exoskeleton robot is established,and the corresponding joint is designed to meet the needs of the human body lower limb basic behaviors. The experimental results show that this structure is satisfied for the different size of people'wear. It can effectively reduce the burden on the human body.
引文
[1]赵彦峻,徐诚.人体下肢外骨骼设计与仿真分析[J].系统仿真学报,2008,20(17):4756-4766.
[2]Pratt J E,Krupp B T,Morse C J,et a1. The Robo Knee:an exo-skeleton for enhancing strength and endurance during walking[J]. IEEE International Conference on Robotics and Automation,2004,3:2430-2435.
[3]柯显信,陈玉亮,唐文彬.人体下肢外骨骼机器人的发展及关键技术分析[J].机器人技术与应用,2009(6):28-32.
[2]Pratt J E,Krupp B T,Morse C J,et a1. The Robo Knee:an exo-skeleton for enhancing strength and endurance during walking[J]. IEEE International Conference on Robotics and Automation,2004,3:2430-2435.
[3]柯显信,陈玉亮,唐文彬.人体下肢外骨骼机器人的发展及关键技术分析[J].机器人技术与应用,2009(6):28-32.