电机驱动的人体下肢外骨骼设计与分析
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