Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots

Ma Xiaojun; Liu Yuyang; Jia Qiusheng; Liu Desheng; Liu Xunbao; Yuan Mingrun

doi:10.16578/j.issn.1004.2539.2022.12.016

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Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots

Test·Analysis | 更新时间：2023-01-06

- Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots
- Journal of Mechanical Transmission Vol. 46, Issue 12, Pages: 106-111(2022)
- 作者机构：
  
  1.佳木斯大学机械工程学院，黑龙江佳木斯 154007
  2.哈尔滨轴承集团公司，黑龙江哈尔滨 150002
  3.佳木斯大学信息电子技术学院，黑龙江佳木斯 154007
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.12.016
  CLC：
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马晓君,刘玉阳,贾秋生等.下肢外骨骼康复机器人动力学仿真与分析[J].机械传动,2022,46(12):106-111.

Ma Xiaojun,Liu Yuyang,Jia Qiusheng,et al.Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots[J].Journal of Mechanical Transmission,2022,46(12):106-111.
马晓君,刘玉阳,贾秋生等.下肢外骨骼康复机器人动力学仿真与分析[J].机械传动,2022,46(12):106-111. DOI： 10.16578/j.issn.1004.2539.2022.12.016.

Ma Xiaojun,Liu Yuyang,Jia Qiusheng,et al.Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots[J].Journal of Mechanical Transmission,2022,46(12):106-111. DOI： 10.16578/j.issn.1004.2539.2022.12.016.

摘要

下肢外骨骼康复机器人可以有效提高下肢运动功能受损患者的康复效率，减轻康复医师的工作量。设计了一款气动肌肉驱动的下肢外骨骼康复机器人。为探究外骨骼机器人运动状态和各关节运动机理之间的关系，采用拉格朗日方程对下肢外骨骼进行动力学建模，将建立好的虚拟样机模型导入Adams中进行动力学仿真，得到下肢外骨骼康复机器人在不同运动状态下各关节在运动过程中转矩的变化情况，对仿真数据进行分析，验证了数据的正确性，为下一步实物样机制作及驱动器的选择提供了理论依据。

Abstract

A lower limb exoskeleton rehabilitation robot can effectively improve the rehabilitation efficiency of patients with impaired lower limb motor function and reduce the workload of rehabilitation physicians. Therefore, a lower limb exoskeleton rehabilitation robot is designed, the relationship between the motion state of the exoskeleton robot and the motion mechanism of each joint is explored, the Lagrange equation to model the dynamics of the lower limb exoskeleton is used and the established virtual prototype model into Adams for dynamic simulation is imported. Further, the torque changes of each joint of the lower limb exoskeleton rehabilitation robot in different motion states are obtained. The data are analyzed to verify the correctness of the data, which provides a theoretical basis for the next step of the physical prototype fabrication and the selection of the actuator.

关键词

外骨骼机器人拉格朗日方程动力学仿真虚拟样机

Keywords

Exoskeleton robotLagrangian equationDynamics simulationVirtual prototype

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