CAJ | 학술논문

为实现截瘫患者独立行走，提出了一种仅实现髋关节和踝关节运动的四自由度机器人机构。根据人机工程学原理，对机构进行尺度综合后，采用D-H坐标法建立该机构运动学模型，得到助行机器人末端执行器的位置方程、速度方程和加速度方程，并在给定角度参数的条件下，采用Matlab软件进行运动学仿真验证分析结果。结果表明，该机器人能够满足截瘫患者独立行走的要求，且具有结构简单、成本低的特点，运动学分析的结果也为实现机器人行走控制提供了依据。
위실현절탄환자독립행주，제출료일충부실현관관절화과관절운동적사자유도궤기인궤구。근거인궤공정학원리，대궤구진행척도종합후，채용D-H좌표법건립해궤구운동학모형，득도조행궤기인말단집행기적위치방정、속도방정화가속도방정，병재급정각도삼수적조건하，채용Matlab연건진행운동학방진험증분석결과。결과표명，해궤기인능구만족절탄환자독립행주적요구，차구유결구간단、성본저적특점，운동학분석적결과야위실현궤기인행주공제제공료의거。
In order to achieve paraplegics to walK independently,a four -DOF robot mechanism was proposed. The robot was only driven hip and anKle movement. After a comprehensive scale institutions which according to erg-onomic principles,using the D-H coordinate method to establish Kinematics model and calculate the position,ve-locity and acceleration equation of the walKer robot's end-effector. While given the angle parameters,using Matlab simulation software to verify the results. The results showed that the robot can meet the requirements of paraplegics to walK independently,and has a simple structure and low cost,the results of the Kinematic analysis also provide a basis for controlling the robot to walK.