摘要
携行式外骨骼作为一种有效的人机耦合方式,能够为人体负重运动提供必要的支撑和辅助。下肢结构作为整个系统的核心组成,其运动轨迹的实现情况将会直接影响外骨骼穿戴舒适性和运动协调性。从运动学角度出发,对外骨骼下肢结构及自由度和动态稳定性进行了分析,利用坐标变换和D-H方法建立外骨骼下肢运动模型并实现下肢运动轨迹规划。利用Solidworks建立了外骨骼三维模型,将其导入Adams中构建虚拟样机模型进行运动学仿真。仿真结果验证了运动学模型及推导公式的正确性,为进一步研究携行式外骨骼打下了理论基础。
Portable exoskeleton, as an effective way of man-machine coupling, can provide necessary support and assistance for body weighting. The lower extremity is a key part of whole system. Its trajectory directly affects exaskeleton wearing comfort and movement coordination. From the perspective of kinematics, its structure, freedom and dynamic stability are analyzed. Then, a lower limb motion model is established with the methods of coordinate transformation and D-H rule. The trajectory planning of the lower extremity is realized based on the motion model. Finally, an exoskeleton three-dimensional model is established in SolidWorks, and a virtual prototype model is built in the ADAMS for kinematics simulation. The simulation resultvalidates the correctness of the methid and formulations of kinematics analysis. All these works lay a foundation for further research in the future.
出处
《机械设计与制造》
北大核心
2014年第2期171-174,共4页
Machinery Design & Manufacture
基金
中央高校基本科研业务费专项资金资助(SWJTU12CX40)
国家自然科学基金(51175442)
关键词
携行式外骨骼
下肢
运动学分析
轨迹规划
仿真
Portable Exoskeleton
Lower Extremity
Kinematics Analysis
Trajectory Planning
Simulation
作者简介
易嘉伟，（1989-），男，湖北广水人，硕士研究生，主要研究方向：物流技术与装备；
程文明，（1963-），男，浙江东阳人，教授，博士生导师，主要研究方向：数字物流装备与控制技术
