摘要：穿戴式负重外骨骼机器人是辅助下肢有运动障碍的患者进行站立及行走活动的康复型机器人。随着我国经济发展，对康复机器人的需求越来越多，而国内研究刚刚起步，许多技术还不够成熟，还需要不断的深入研究。本论文对下肢外骨骼机器人进行了国内外文献的查阅和需求分析，针对机器人的机械总体结构、外骨骼系统运动学仿真与动力学分析进行了设计。首先，由于外骨骼机器人需要适用于人体结构，因此外骨骼机器人的机械结构设计需要明确人体尺寸及下肢运动范围。根据人体下肢结构和运动特征确定机器人关节自由度，选择合适的驱动方式并设计成可调节式。其次，在机械结构设计的基础上，对外骨骼机器人进行运动学和运动特性分析。运用拉格朗日方程建立动力学模型，为机器人控制奠定基础。最后，本文采用Creo三维软件对外骨骼机器人进行运动仿真。
关键词：外骨骼机器人；可穿戴式；动力学
Wearable exoskeleton robots are rehabilitation robots that assist patients with movement disorders in the lower limbs to perform standing and walking activities. With the economic development of our country, more and more demand for rehabilitation robots, and domestic research has just started, many technologies are not mature enough, but also need continuous in-depth research. In this paper, the literature on the exoskeleton of the exoskeleton of the lower extremities was reviewed and the demand analysis was carried out. The overall mechanical structure of the robot and the kinematic simulation and dynamic analysis of the exoskeleton system were designed. First of all, because the exoskeleton robot needs to be suitable for the human body structure, the mechanical structure design of the exoskeleton robot needs to define the human body size and the range of motion of the lower extremities. According to the structure and motion characteristics of the lower limbs of the human body, the degree of freedom of the joints of the robot is determined, an appropriate driving mode is selected, and the adjustable mode is designed. Second, based on the design of the mechanical structure, the kinematics and kinematics of the exoskeletal robot are analyzed. Lagrange equations are used to establish dynamic models and lay the foundation for robot control. Finally, Creo three-dimensional software is used to simulate the exoskeleton robot.
Keywords: exoskeleton robot; wearable; dynamics
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