基于重心稳定约束的下肢外骨骼机器人设计与控制研究

Research on Control and Design of the Lower Limb Exoskeleton Robot Based on the Center of Gravity Stability Constraints

摘要: 为了实现人的控制与机械力量之间的结合，使人在保留自身具备的各种优点的同时具备机械的力量、速度和耐力，更加完美地发挥人与机器的功用，设计了一种下肢外骨骼机器人。该机器人主要由外骨骼机械腿和模块化关节组成，模块化关节有利于缩短产品的研发周期和外骨骼关节的维修与替换。建立下肢外骨骼机器人运动学与动力学模型，并结合Solidworks三维软件动态仿真模块进行仿真，得出了各关节的力矩，为下肢外骨骼机器人关节驱动电机的选型以及控制系统的设计提供了理论基础，实验结果表明，所设计的外骨骼机器人能适时产生辅助转矩，具有行走辅助与平衡保持的功能。

Abstract: In order to realize the combination of human control and mechanical force, and to enable human to have mechanical strength, speed and endurance while retaining various advantages, and to better play the functions of human and machine, an exoskeleton robot of lower limbs was designed. The robot is mainly composed of exoskeleton mechanical legs and modular joints. The modular joints are helpful to shorten the product development cycle and convenient to repair and replace exoskeleton joints. The kinematics and dynamics model of the lower limb exoskeleton robot was established, the joint torques of the lower limb exoskeleton rehabilitation robot were simulated by using the Solidworks 3D software dynamic simulation module, and the torque of each joint was obtained. It provides a theoretical basis for the selection of the joint drive motor and the product research and development. The experiments show that this lower limb exoskeleton can assist suitable torque at the correct time to let user walk easily and keep their balance.