下肢外骨骼结构设计与控制毕业设计.docx

PAGE 27 MACROBUTTON MTEditEquationSection2 SEQ MTEqn \r \h SEQ MTSec \r 1 \h SEQ MTChap \r 1 \h 摘 要 外骨骼广泛存在于自然界，许多动物都有不同形式的外骨骼，诸如犰狳的铠甲，穿山甲的鳞片。本质上都是一种可以给他们提供保护的坚硬外部结构，帮助他们抵御天敌，躲避自然灾害。人类从生物学中得到启示，发现外骨骼所具有的巨大潜力，并希望设计一种外骨骼来帮助运动机能受损的人类。因此近些年来许多研究单位和高校都致力于开发能为人体提供支持和保护的外骨骼机器人。作为一种全新领域的机器人，它不仅可以帮助那些肢体受损的残障人士恢复行走，还可以增强人体的负重水平，故可用于交通、建筑、机械、军事、医护等各个领域。 目前已知的下肢外骨骼大多为了实现快速精确的运动控制，采用传统驱动形式，将刚性驱动器安装在主动关节的位置上，使得结构庞大复杂，重量居高不下最终使得关节位置与人体契合度不高，穿戴不便舒适性降低。针对以上问题，本文主要研究人体下肢的运动机理，分析阅读国内外最新下肢外骨骼的研究情况，形成自己独立的思考。开发一种全新的下肢外骨骼，设计完成其主体结构和各项配置。力求达到轻量化、小型化的设计目标，本文创新性的采用了绳驱的方式，将驱动器与下肢外骨骼本体分离，驱动器统一安装于背部，从而减少穿戴患者负担。最后，对其硬件例如主控器、传感器、电机及驱动器等进行选型，在LabVIEW环境编程，对控制方案进行设计，搭建运动控制的试验平台，最终对该下肢外骨骼的结构和控制方案进行验证。 关键词：下肢外骨骼；机械设计；运动控制程序 ABSTRACT The exoskeleton is widespread in nature, and many animals have different forms of exoskeletons, such as the armor of a mandarin duck and scales of pangolins. Essentially, it is a hard external structure that can provide them with protection, helping them to resist natural enemies and avoid natural disasters. Humans have been inspired by biology and found that the exoskeleton has great potential, and he hopes to design an exoskeleton to help humans with motor impairment. Therefore, in recent years, many research institutes and universities have devoted themselves to developing exoskeleton robots that can provide support and protection for the human body. As a brand-new robot, it can not only help those physically disabled people with disabilities to resume walking, but also increase the bodys weight-bearing capacity. It can be used in various fields such as transportation, construction, machinery, military, and medical care.Currently known exoskeleton of the lower extremity is mostly used for fast and accurate motion control. The conventional drive form is adopted. The rigid driver is installed on the position of the active joint, so that the structure is large and complex, and the weight is high and the joint position is not compatible with the human body. Hig