电机驱动的人体下肢外骨骼设计与分析

摘要随着科技发展，武器装备不断升级，士兵在战场上所需承担负载越来越重。人体下肢外骨骼装置可将负载传递至地面，从而减轻人体负重，保证士兵能够长途负重跋涉于那些车辆无法行驶的路面，充分发挥单兵运输和作战能力。本文简要介绍了目前国内外在下肢外骨骼设计领域的研究现状，简单进行了下肢外骨骼控制策略的描述，重点进行电机驱动的下肢外骨骼机构进行了设计、分析、仿真和校核，为人体腿部外骨骼进一步设计与优化做了铺垫。在设计过程中主要进行总体方案的设计，对于下肢外骨骼的5个主要部分分别进行了一定的设计说明。大体的进行了电机的选型、配套减速器的选型。也进行了传感器的选择和安放位置的设计。具体进行了机械结构的设计，简单的进行了动态模型的分析，得出各个关节处的动力学参数。之后进行了关键部件腿杆、轴的强度校核，分析其安全可靠性。25740
关键词下肢外骨骼外骨骼机械结构外骨骼仿真
毕业设计说明书（毕业论文）外文摘要
Title     Design and simulation of motor-drive human lower   Extremity Exoskeleton
Abstract
With the development of science and technology, weapon equipments upgrade rapidly, the loads that the soldiers are required to bear is getting heavier and heavier. With the Human lower limb exoskeleton device，soldiers can transfer all the pressure to the ground, so as to reduce the body weight, ensure that soldiers can bear heavy burdens for a long time when they walk in the road vehicles can't arrive, making full use of inpidual transportation and combat capability. In this paper, I briefly introduced the studies about this area in the field of design of lower limb exoskeleton at home and abroad. I also simply describes the control strategy of the lower limb exoskeleton, focusing on lower limb exoskeleton mechanism of motor drive design, analysis, simulation and verification, done for human leg exoskeletons further design and optimization. In the process of design mainly for the design of overall scheme, for lower limb exoskeleton five main parts, respectively for the design of a certain description. General selection, matching of the motor reducer selection. Also for the selection and placement of the sensor design. The specific mechanical structure design, simple has carried on the analysis of the dynamic model, the dynamic parameters of joints are obtained. After the strength of the key components for leg rod, shaft, analyzing its safety and reliability.
Keywords: Human lower limb exoskeleton structure design   analysis
目次
1    引言    4
1.1    本课题研究背景    4
1.2    国内外研究现状及意义    5
1.3    下肢外骨骼的研究内容    9
1.4    本文的主要内容    10
2    总体方案    12
2.1    人体下肢生物学研究    12
2.1.1 人体下肢结构分析    13
2.1.2 人体下肢自由度分析    14
2.1.3 人体下肢尺寸分析    16
2.3 驱动方式选择    18
2.4 控制策略    19
2.5 感知系统的设计    20
2.6 本章小结    23
3    机械结构详细设计    24 电机驱动的人体下肢外骨骼设计与分析:http://www.youerw.com/jixie/lunwen_19667.html