摘要
设计了一种外延式机器人外骨骼下肢。单下肢具有4个自由度,应用平行四边形连杆原理实现人体穿戴部分并延伸其运动范围,在人力驱使下,帮助穿戴者完成人体本身无法单独完成的一些任务。胯部结构设计应用连杆结构,保证髋关节拥有足够的自由度跟随人体运动。为验证下肢外骨骼机械结构可行性,对结构中关键点进行运动仿真分析,仿真结果表明下肢结构可实现延伸运动且运行平稳。为机器人外骨骼下肢的进一步研究提供了参考。
The lower extremity of an extended exoskeleton robot is designed.The lower limb has 4 degrees of freedom.It uses the principle of parallelogram links to realize the human body’s wearable part and extend its motion range.The hip joint is designed with a link structure to ensure that the crotch has enough freedom to follow the human body.In order to verify the feasibility of the mechanical structure of the lower extremity exoskeleton,a kinematic simulation analysis is made on key structural points.The simulation results show that the lower limb structure realizes the extended motion and runs smoothly,which provides a reference for the further study of the lower extremity of an extended exoskeleton robot.
作者
刘昌霖
孙江宏
LIU Changlin;SUN Jianghong(Mechanical Electrical Engineering School,Beijing Information Science&Technology University,Beijing 100192,China)
出处
《北京信息科技大学学报（自然科学版）》
2019年第3期43-47,共5页
Journal of Beijing Information Science and Technology University
基金
科技创新服务能力建设(71F1810929)
国家重大科学仪器专项(2014YQ24044504)
