机械

设计了一种下肢外骨骼装置,主要由髋关节、膝关节、踝关节和驱动装置组成,其中膝关节部分采用了四杆机构替代传统的单自由度转动副结构,提高了膝关节的仿生性,驱动装置采用了电机驱动。对髋、膝、踝三关节采用Adams进行了运动学仿真分析,获得了三个关节的输出角度数据,通过与输入角度数据的对比,验证了该下肢外骨骼装置与人体行走姿态具有良好的跟随性。同时通过对膝关节四杆机构的结构设计与运动学仿真分析的交互叠代,优化了膝关节四杆机构的设计参数。

In this paper, we designed a lower extremity exoskeleton device, which is mainly composed of hip, knee, ankle joint and driving device. Among them, knee joint was designed by using four-bar mechanism to replace traditional single degree of freedom revolute joint structure, which improved the bionics of knee joint, while driving device is electric motor. Then we obtained output angle data of hip, knee, ankle joint by way of Adams kinematics simulation and also proved that the lower extremity exoskeleton device can follow the human walking posture very well by comparing angle data of input and output. Finally, through interactive iteration of structure design and kinematics simulation, we optimized the structure parameter of four-bar mechanism knee joint