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设计了一种针对军事用途的单兵装甲下肢外骨骼机器人(Individual Soldier Armored Lower Extremity Exoskeleton,ISALEE),发挥人与机械各自优势,提高士兵在执行任务过程中的承载能力。通过建立5连杆模型,对人体行走步态及下肢自由度进行了分析。利用零力矩点(Zero Moment Point,ZMP)稳定判据,分析单兵装甲下肢外骨骼的动态稳定性,并对步态进行规划。最后利用CAD软件Solidworks和动力学仿真软件ADAMS对单兵装甲下肢外骨骼进行虚拟样机建模和仿真。仿真结果验证了利用ADAMS虚拟样机进行结构设计的可行性,并为液压驱动元件的选型和减小膝关节负载压力的设计提供了理论依据。
An Individual Soldier Armored Lower Extremity Exoskeleton (ISALEE) is designed for military use to exert the advantages of both man and machine to improve the carrying capacity of soldiers in carrying out their missions. Through the establishment of 5-link model, the human walking gait and lower extremity freedom were analyzed. The zero Moment Point (ZMP) stability criterion was used to analyze the dynamic stability of the lower extremity exoskeleton of a single armored man and to plan the gait. Finally, using the CAD software Solidworks and dynamic simulation software ADAMS, the virtual prototype modeling and simulation of the armored lower extremity exoskeleton are carried out. The simulation results verify the feasibility of using ADAMS virtual prototype for structural design, and provide theoretical basis for the selection of hydraulic driving components and the design of reducing the knee load pressure.