穿戴式外骨骼膝关节三铰点机构优化设计

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研究穿戴式外骨骼的工作原理,建立数学模型,采用MATLAB软件,应用粒子群算法开发了一套膝关节三铰点机构的优化设计系统来代替人工设计。粒子群算法是一种基于鸟群的智能优化方法,对于多目标、多约束条件的三铰点机构优化设计能够有效求解。仿真实践证明了该方法的有效性。 By analyzing the working principle of wearable exoskeleton,building a mathematical model,this paper applied MATLAB software and particle swarm optimization（PSO） to developing a set of optimized design system for three-hinge mechanism of knee,to replace artificial design.The PSO is an intelligent optimization method based on bird flock.The design method based on PSO could been used to optimize three-hinge mechanism with multi-objective and multi-constraint conditions.The simulation practice shows it is effective.