Design and Simulation Analysis of Multi-purpose Lower Limb Exoskeleton Robot

Bingqi Jia; Wenlong Bi; Xiao Wei; Guoxin Xu; Yanjun Zhao; Yidong Sun

doi:10.16578/j.issn.1004.2539.2021.01.010

您当前的位置：

首页 >

文章列表页 >

Design and Simulation Analysis of Multi-purpose Lower Limb Exoskeleton Robot

Design· Calculation | 更新时间：2022-11-10

- Design and Simulation Analysis of Multi-purpose Lower Limb Exoskeleton Robot
- Journal of Mechanical Transmission Vol. 45, Issue 1, Pages: 59-64(2021)
- 作者机构：
  
  1.山东理工大学机械工程学院，山东淄博 255049
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.01.010
  CLC：
扫描看全文
贾丙琪,毕文龙,魏笑等.一种多功能下肢外骨骼机器人的设计与仿真分析[J].机械传动,2021,45(01):59-64.

Jia Bingqi,Bi Wenlong,Wei Xiao,et al.Design and Simulation Analysis of Multi-purpose Lower Limb Exoskeleton Robot[J].Journal of Mechanical Transmission,2021,45(01):59-64.
贾丙琪,毕文龙,魏笑等.一种多功能下肢外骨骼机器人的设计与仿真分析[J].机械传动,2021,45(01):59-64. DOI： 10.16578/j.issn.1004.2539.2021.01.010.

Jia Bingqi,Bi Wenlong,Wei Xiao,et al.Design and Simulation Analysis of Multi-purpose Lower Limb Exoskeleton Robot[J].Journal of Mechanical Transmission,2021,45(01):59-64. DOI： 10.16578/j.issn.1004.2539.2021.01.010.

摘要

针对老年人以及下肢运动障碍患者的康复训练和运动代步的需求，设计了一种多功能下肢外骨骼机器人，利用辅助起立机构和腿部外骨骼实现对使用者下肢的康复训练。分别了建立外骨骼机器人单腿支撑阶段和双腿支撑阶段5杆模型，采用拉格朗日方法推导出动力学模型，计算各关节所需的理论力矩；建立虚拟样机模型进行动力学仿真，仿真数据与理论数据进行比较，验证了理论推导的准确性和外骨骼机器人设计的合理性，为后续电机选型提供了依据。

Abstract

Aiming at the needs of rehabilitation training and movement substitution for the elderly and patients with lower limb movement disorders， a multi-purpose lower limb exoskeleton robot is designed， which utilizes auxiliary standing mechanism and exoskeleton to realize the rehabilitation training of lower limbs for users. Five-bar models of the one-leg support stage and the two-leg support stage of the exoskeleton robot are established， and the dynamics model is deduced by Lagrange method to deduce the theoretical moments required for each joint. A virtual prototype model is established to carry out dynamics simulation， and the simulation data is compared with the theoretical data to verify the rationality of the design of the exoskeleton robot with the accuracy of the theoretical deduction， which provides a theoretical basis for motor selection.

关键词

下肢外骨骼结构设计动力学计算仿真分析

Keywords

Lower limb exoskeletonStructure designDynamics calculationSimulation analysis

references

王陇德.中国脑卒中防治工程的现状与未来［J］.第二军医大学学报，2018，39（9）：941-943.

WANG Longde.Prevention and treatment of stroke in China：the status and future［J］.Academic Journal of Second Military Medical University，2018，39（9）：941-943.

厉朝，赵彦峻，乔学昱，等.欠驱动康复外骨骼手的设计及试验［J］.机械传动，2019，43（9）：154-158.

LI Zhao，ZHAO Yanjun，QIAO Xueyu，et al.Design and experiment of under-actuated rehabilitation exoskeleton hand［J］.Journal of Mechanical Transmission，2019，43（9）：154-158.

胡进，侯增广，陈翼雄，等.下肢康复机器人及其交互控制方法［J］.自动化学报，2014，40（11）：2377-2390.

HU Jin，HOU Zengguang，CHEN Yixiong，et al.Lower limb rehabilitation robots and interactive control methods［J］.Acta Automatica Sinica，2014，40（11）：2377-2390.

ANSARIESHLAGHI F，EBERHARD P.Experimental study on a nonlinear observer application for a very flexible parallel robot［J］.International Journal of Dynamics and Control，2019，7（3）：1046-1055.

LI J，CHEN D，TAO C，et al.Synthesis and experiment of a lower limb exoskeleton rehabilitation robot［J］.Industrial Robot：An International Journal，2017，44（3）：264-274.

STAUFFER Y，ALLEMAND Y，BOURI M，et al.The walk trainer-a new generation of walking reeducation device combining orthoses and muscle stimulation［J］.IEEE Transactions on Neural Systems and Rehabilitation Engineering，2008，17（1）：38-45.

RAAB K，KEAKOW K，TRIPP F，et al.Effects of training with the ReWalk exoskeleton on quality of life in incomplete spinal cord injury：a single case study［J］.Spinal Cord Series and Cases，2016，2（1）：1-3.

汪步云，汪志红，许德章.下肢外骨骼助力机器人本体结构设计与运动学分析［J］.机械科学与技术，2018，37（4）：553-559.

WANG Buyun，WANG Zhihong，XU Dezhang.Mechanical design and kinematics analysis on a wearable power-assisted robot for lower extremity exoskeleton［J］.Mechanical Science and Technology for Aerospace Engineering，2018，37（4）：553-559.

中国标准化与信息分类编码研究所.中国成年人人体尺寸：GB 10000-88［S］.北京：中国标准出版社，1988.

China Institute of Standardization and Information Classification and coding.Human dimensions of Chinese adults：GB 10000-88［S］.Beijing：Standards Press of China，1988.

邢凯，赵新华，陈炜，等.下肢外骨骼机器人的动力学分析及仿真［J］.天津理工大学学报，2015，31（1）：7-11.

XING Kai，ZHAO Xinhua，CHEN Wei，et al.Dynamic analysis and simulation of lower extremity exoskeleton［J］.Journal of Tianjin University of Technology，2015，31（1）：7-11.

陈炜，王立柱，张林琰，等.下肢外骨骼康复机器人动力学分析与仿真［J］.机械设计，2018，35（4）：71-77.

CHEN Wei，WANG Lizhu，ZHANG Linyan，et al.Dynamic analysis and simulation for lower limb exoskeleton rehabilitation robot［J］.Journal of Machine Design，2018，35（4）：71-77.

郭伟，杨丛为，邓静，等.外骨骼机器人系统中人体下肢关节力矩动态解算［J］.机械与电子，2015（10）：71-75.

GUO Wei，YANG Congwei，DENG Jing，et al.Dynamic solution of the lower extremity joint torques in man machine system of lower extremity exoskeleton［J］.Machinery & Electronics，2015（10）：71-75.

刘小龙，赵彦峻，葛文庆，等.医疗助力下肢外骨骼设计及动力学仿真分析［J］.工程设计学报，2016，23（4）：327-332.

LIU Xiaolong，ZHAO Yanjun，GE Wenqing，et al.Design and dynamics simulation analysis of medical disabled lower limb exoskeleton［J］.Chinese Journal of Engineering Design，2016，23（4）：327-332.

蔡玉强，李赐恩.基于ADAMS下肢外骨骼刚柔耦合分析及仿真［J］.机械工程与自动化，2019（6）：69-71.

CAI Yuqiang，LI Cien.Rigid-flexible coupling analysis and simulation of lower extremity exoskeleton based on ADAMS［J］.Mechanical Engineering & Automation，2019（6）：69-71.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design and Experiment of Mobile Assistant Robot for the Semi Disabled Elderly

Structural Design and Experiment Analysis of a Morphing Wing Structure

Tooth Profile Modification and Experimental Study of Double Circular Arc Flexsplines in Harmonic Reducers

Structural Design and Implementation of Simulating Galago Senegalensis Monkey Single-leg Jumping Robots

Structure Design and Kinematic Stability Study of a Forward Ladder Climbing Wheelchair

Related Author

No data

Related Institution

Education Center of Experiments and Innovations， Harbin Institute of Technology

Center Research Institute， SIASUN Robot & Automation Co.， Ltd.

SIASUN Robot & Automation Co.， Ltd.

School of Mechatronic Engineering， Shenzhen Polytechnic

Zhejiang Provincial Key Lab of Part Rolling Technology, Ningbo University

⁰