髋关节助力外骨骼的设计与研究-机械电子工程专业毕业论文.docxVIP

研究生优秀毕业论文 硕士论文 硕士论文 髋关节助力外骨骼的设计与研究 Abstract Many people have to spend a lot of time walking or walk a long distance in their daily work and life，such 2LS，nurses，sanitation workers，hikers and soldiers，walking too much often leads to physical discomfort and muscle fatigue，which will affect their work efficiency and life quality．Long-term muscle fatigue is the main cause of muscle tissue damage，and its damage to human body is irreparable．At present，clinical research on muscle tissue damage is insufficient．As a result，many treatment methods for muscle tissue damage were created，but none of them are proved to be effective．Therefore，in order to provide better protection to the human body,and improve their work efficiency and life quality,it is very necessary to create a walking assist equipment，which is easy to weal,to assist human lower limb to walk normally． Exoskeleton is a new kind of human movement aided robot，walking assist exoskeleton carl improve the movement ability of lower limb．Exoskeleton has been studied of a long time in the developed countries in Europe，United States and Japan，and achieved some results． China stared late on the research of exoskeleton，and the relevant technology is relatively lags behind at present，and mainly focused on rehabilitation exoskeleton．For this reason，this research project aims at develop a walking assist exoskeleton、^，i也following features：simple structure．easy to contr01． The development statue of exoskeleton is deeply analysis in this paper，and discussed their traits．Then，the walking assist exoskeleton’S numbers of DOF(degrees of freedom) is selected，as well aS the exoskeleton’S drive system’S kind．The mechanical structure is designed by arranging the exoskeleton’S DOF,designing the mall—machine junction part and the mechanical structure of drive system．According to the study results of human sports biome