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机械外骨骼是模仿生物界外骨骼研发的一种新型机电装置。设计了一款可穿戴式柔性膝关节外骨骼,采用人体下肢5杆简化模型进行运动学和动力学分析。通过Matlab/Simulink仿真分析,所得的膝关节角度变化曲线与CGA标准曲线基本一致,验证了数学模型的正确性;通过ADAMS动态仿真,模型能正常行走,验证了驱动函数的正确性,所得的膝关节力矩变化曲线,为后面的控制做准备。研制了相关样机,通过穿外骨骼和不穿外骨骼进行对比试验,观察膝关节角度的变化情况,验证该机构的合理性。
Mechanical exoskeleton is a new type of electromechanical device that imitates the research and development of biological exoskeletons. A wearable flexible knee exoskeleton was designed and the 5-bar simplified model of lower extremity was used for kinematics and dynamics analysis. Through the simulation analysis of Matlab / Simulink, the curve of knee angle obtained is basically consistent with the standard curve of CGA, which verifies the correctness of the mathematical model. Through ADAMS dynamic simulation, the model can walk normally and the correctness of the driving function is verified. Joint torque curve, to prepare for the back of the control. Relevant prototypes were developed. By comparing the exoskeleton with exoskeleton without exoskeleton, the change of knee angle was observed and the rationality of the mechanism was verified.