气动减重步行助力机器人的开发及运动仿真-机械工程专业论文.pdf.docxVIP

Development Development of a Pneumatic Partial Weight Bearing Walking Assist Robot and Its Motion Control Simulation Abstract The research content mainly aims at the walking difficulty in the elderly group suffered from osteoarthritis commonly．On the basis of analyzing the situation and problems of wearable walking power assist robot research，design scheme of a new pneumatic weight．．reduction wearable walking power assist robot is developed． Firstly,wearable power assist robot for rehabilitation and medical equipment msearch status both at home and abroad are analyzed and compared．Usually those machines are bulky, expensive and unable to be used for outdoor training；Therefore，in the market，there’S still a lack of device of portability,good wearablity and stable assist power for rehabilitation training． Secondly,the previous research of this experiment iS introduced and summarized，based on the achievement and insufficiency,a new design scheme and its problems need to be solved is proposed． Thirdly,experimental prototype assembly is completed，balance control function is achieved better,the mechanical system，electrical system and pneumatic system of power assist robot iS introduced．Emphasis iS put on the working such as connection of seats and cylinder,balance control improvement in the power assist robot mechanical system． Fourthly,softwares and toolkits such as SolidWorks and Matlab／Simulink／SimMechani cs／Statefolw were used to create a simulation model of ground reaction forces，human body a nd walking power assist robot．Through the simulation，the trend of vertical reaction change fr om ground to legs was obtained． Fifthly,using experimental prototype，wih different quantities of weight-reduction， outdoor walking power assist experiment Was carried out，experiment content and analysis of the experimental results also described in detail．The experiment is able to verify the rationality and feasibility of the research content． Key words：Walking power assist robot；Balan