凸轮在下肢外骨骼驱动中的应用及分析

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以功能设计为出发点,设计下肢外骨骼驱动机构,与从模拟人体腿部肌肉运动的角度出发设计下肢外骨骼驱动的思路有明显不同。由于下肢运动的复杂性,传统的驱动方式在控制上很好实现下肢的行走运动很困难且成本很高,而提出的用复杂的步态曲线来反求设计凸轮外轮廓并用其作为下肢助行器的驱动机构,巧妙的避开了下肢外骨骼中关于如何实现运动控制的难点问题。同时,针对其存在的不能适应步态实时调整的问题也进行了结构补偿,以使外骨骼机构能在一定范围内实现速度的变动。 The authors take the functional design as the starting point to design drive for lower limb exoskeletons.And that is obviously different from the design idea which is based on simulating the muscle motion of human leg to the design of lower limbs exoskeletons’drive mechanism.Because of the complexity of the lower limb movement,traditional drive is very difficult and costly to realize the control of the complex movement well.So the authors propose to use the complex gait curve to design the contour of CAM in a reverse way and take the CAM as the drive mechanism of the lower limbs exoskeletons.The CAM drive mechanism can masterly avoid the difficult problem of the lower limbs exoskeletons’motion control.According to the existing problems that the CAM drive mechanism cannot adapt to the timely adjusting of gait,the authors also make a construction compensation in this essay to make exoskeletons’speed can changes within a certain range.