| 下肢外骨骼康复机器人设计及其运动学分析 |
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| 引用本文： | 夏田,桓茜,陈宇,徐建林,韩瑞琪. 下肢外骨骼康复机器人设计及其运动学分析[J]. 华侨大学学报(自然科学版), 2017, 0(4): 452-456. DOI: 10.11830/ISSN.1000-5013.201704003 |
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| 作者姓名： | 夏田 桓茜 陈宇 徐建林 韩瑞琪 |
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| 作者单位： | 陕西科技大学 机电工程学院, 陕西 西安 710021 |
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| 摘 要： | 采用电机驱动方式,设计一种用于辅助行走和康复训练的人体下肢外骨骼康复装置.将下肢外骨骼简化为矢状面内的五杆机构,建立相应的D-H(Denavit-Hartenberg)模型,推导出一个步态周期内髋关节、膝关节、踝关节和脚尖的坐标方程.在ADAMS环境下,对下肢外骨骼进行运动学仿真分析,所得到的髋关节、膝关节和踝关节的坐标变化曲线表明:下肢外骨骼各关节在空间中具有连续的运动轨迹.
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| 关 键 词： | 下肢外骨骼 五杆机构 运动学方程 D-H模型 仿真分析 ADAMS软件 |
Design and Kinematic Analysis of Lower Limb Exoskeleton Rehabilitation Robot |
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| XIA Tian,HUAN Xi,CHEN Yu,XU Jianlin,HAN Ruiqi. Design and Kinematic Analysis of Lower Limb Exoskeleton Rehabilitation Robot[J]. Journal of Huaqiao University(Natural Science), 2017, 0(4): 452-456. DOI: 10.11830/ISSN.1000-5013.201704003 |
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| Authors: | XIA Tian HUAN Xi CHEN Yu XU Jianlin HAN Ruiqi |
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| Affiliation: | College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi’an 710021, China |
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| Abstract: | A rehabilitation device of human lower limb exoskeleton is designed for walking aids and rehabilitation training using the way of motor drive. By establishing the D-H(Denavit-Hartenberg)model of lower limb exoskeleton, the coordinate equations of hip joint, knee joint and ankle joint are derived. The kinematics simulation of lower limb exoskeleton is performed under the ADAMS environment. The coordinate curves of hip, knee and ankle joints are analyzed. The results show that the joints of the lower limb exoskeleton have a continuous trajectory in space. |
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| Keywords: | lower limb exoskeleton five-bar mechanism kinematics equation D-H model simulation analysis ADAMS software |
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