目录
摘要1
Abstract 1
1绪论1
1.1课题背景意义1
1.2国内外发展现状1
1.2.1国外发展现状1
1.2.2国内发展现状1
1.3主要研究内容1
1.4研究方法1
1.5本章小结1
2总体方案分析设计1
2.1人体下肢运动解剖学分析1
2.2人体下肢运动机理分析1
2.3总体结构设计1
2.4方案结构特点1
2.5本章小结1
3气动穿戴式膝部外骨骼机构设计分析1
3.1下肢惯性参数分析设计1
3.2气动穿戴式膝部外骨骼机构下肢结构设计1
3.2.1自由度的选择1
3.3仿生气动肌肉的选择1
3.4气动系统设计1
3.5本章小结1
4关键部件校核分析1
4.1轴承寿命计算分析1
4.2髋关节轴承校核1
4.2.1下肢髋关节受力分析1
4.2.2下肢髋关节轴承的校核1
4.3膝关节轴承校核1
4.3.1下肢膝关节受力分析1
4.3.2仿生下肢膝关节轴承的校核1
4.4踝关节轴承校核1
4.4.1下肢踝关节受力分析1
4.4.2踝关节的轴承校核1
4.5本章小结1
5三维建模1
5.1 solidworks软件简介1
5.2 solidworks应用特点1
5.3气动穿戴式膝部外骨骼机构三维建模设计1
5.4本章小结1
结论1
参考文献1
致谢1
基于气动执行器的穿戴式膝部外骨骼设计
摘要
当前，全球众多科研机构已经进行了大量的研究，这些研究聚焦于增强人类的工作效率，特别是提升人体的功能性。这些提升技术涵盖了感官增强装置，例如神经系统强化手段，如药物辅助和脑机接口技术；以及肌肉力量增强设备，比如机械外骨骼等。特别值得一提的是机械外骨骼技术，它已经成为国际研究的热点，其应用范围广泛，包括全身型、上肢型和下肢型外骨骼。下肢外骨骼的应用场景多样，包括用于搬运的外骨骼、辅助行走的外骨骼以及康复训练用的外骨骼。本研究课题旨在设计一款下肢助力型外骨骼机器人，该设备紧密贴合人体下肢，以用户的运动意图为驱动，通过外部动力源实现外骨骼的运作，旨在辅助人体下肢的行走功能。本项目详细分析并设计了外骨骼的整体架构，并对各个组件进行了应力分析，同时为可动部件选择合适的设计方案。此外，利用三维(3D)建模软件对该设备进行了数字建模。鉴于气动辅助行走装置的卓越机械性能，该技术在军事、民用以及医疗等多个领域展现出巨大的应用潜力。
关键词：下肢外骨骼结构；气动传动；穿戴式；三维建模
Design of wearable knee exoskeleton based on pneumatic actuators
Abstract
Currently, numerous research institutions around the world have conducted extensive research focused on enhancing human work efficiency, particularly enhancing human functionality. These enhancement technologies cover sensory enhancement devices, such as nervous system enhancement methods, such as drug assisted and brain computer interface technologies; And muscle strength enhancing devices, such as mechanical exoskeletons. Of particular note is the mechanical exoskeleton technology, which has become a hot topic in international research and has a wide range of applications, including whole body, upper limb, and lower limb exoskeletons. The application scenarios of lower limb exoskeletons are diverse, including exoskeletons for handling, exoskeletons for assisting walking, and exoskeletons for rehabilitation training. The aim of this research project is to design a lower limb assisted exoskeleton robot, which closely fits the human lower limbs and is driven by the user's movement intention. The exoskeleton operates through an external power source, aiming to assist the walking function of the human lower limbs. This project provides a detailed analysis and design of the overall architecture of the exoskeleton, and conducts stress analysis on each component, while selecting appropriate design solutions for movable components. In addition, the device was digitally modeled using 3D modeling software. Given the excellent mechanical performance of pneumatic assisted walking devices, this technology has shown enormous potential for application in various fields such as military, civilian, and medical.
Key words：Exoskeleton robot；Pneumatic assistance；Wearable；Structure design；Three-dimensional digital module
三维图
关节支架-A-A2
关节支架-B-A2
关节转轴-A2
气缸支架-A2
万向轴-A1
总装图-A0
