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设计了一种8自由度的外骨骼助行机器人,使其能在矢状面内完成行走运动,并通过足底重心转移模块使机器人在行走时重心能够在冠状面内左右转移。并对其进行了运动学建模,求解出关节角度和重心轨迹的关系。基于重心投影法理论,基于重心轨迹对下肢外骨骼助行机器人进行步态规划,使其实现静稳定行走。运用MATLAB求解出关节轨迹并进行稳定裕度地仿真验证,使得机器人能实现静稳定行走。
An 8-DOF exoskeleton-assisted walking robot is designed to walk in the sagittal plane and transfer the center of gravity of the robot to left and right within the coronal plane by moving the module through the gravity center of the foot. And kinematics modeling, to solve the relationship between the joint angle and the trajectory of the center of gravity. Based on the theory of center of gravity projection, gait planning of exoskeleton exergoal robot is performed based on the trajectory of center of gravity so that it can achieve static and steady walking. Using MATLAB to solve the joint trajectory and simulate the stability margin, the robot can achieve static and stable walking.