助行机器人起坐机构运动分析及试验.PDF

35 6 ROBOT Vol.35, No.6 2013 11 Nov., 2013 DOI 10.3724/SP.J.1218.2013.00757 150001 dSPACE SimMechanics TP242 A 1002-0446(2013)-06-0757-05 Motion Analysis and Experiments on the Standing-Up Mechanism of Walking Assistance Robot BAI Dapeng ZHANG Lixun (College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China) Abstract: The standing-up mechanism of a multifunction walking assistance robot is developed to help the patients with lower limb diseases to stand-up normally, and only one actuator is used for motion control. The normal people’s standing-up kinematics of hip, knee, ankle joints are obtained by an information measurement system, which is composed of a joint angle measuring system, a metronome and the dSPACE semi-physical simulation platform. Based on that information, the kinematic simulation of normal people’s standing-up is analyzed by SimMechanics. By immigrating the hip’s motion, the motion of the end-effector of the standing-up mechanism is designed. In human experiment, volunteers can stand up from sitting with the help of the prototype of walking assistance robot. Keywords: standing-up mechanism; coordinated motion; standing-up training; kinematics [5] 1 Introduction [6-7] [1-2]