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一种多功能下肢外骨骼机器人的设计与仿真分析
Authors
孙一栋
徐国鑫
+4 more
毕文龙
贾丙琪
赵彦峻
魏笑
Publication date
1 January 2021
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
针对老年人以及下肢运动障碍患者的康复训练和运动代步的需求,设计了一种多功能下肢外骨骼机器人,利用辅助起立机构和腿部外骨骼实现对使用者下肢的康复训练。分别了建立外骨骼机器人单腿支撑阶段和双腿支撑阶段5杆模型,采用拉格朗日方法推导出动力学模型,计算各关节所需的理论力矩;建立虚拟样机模型进行动力学仿真,仿真数据与理论数据进行比较,验证了理论推导的准确性和外骨骼机器人设计的合理性,为后续电机选型提供了依据
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Last time updated on 06/04/2023