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 Desig
n of wearable k
nee exoskeleto
n based o
n p
neumatic actuators Abstract Curre
ntly,
numerous research i
nstitutio
ns arou
nd the world have co
nducted exte
nsive research focused o
n e
nha
nci
ng huma
n work efficie
ncy, particularly e
nha
nci
ng huma
n fu
nctio
nality. These e
nha
nceme
nt tech
nologies cover se
nsory e
nha
nceme
nt devices, such as
nervous system e
nha
nceme
nt methods, such as drug assisted a
nd brai
n computer i
nterface tech
nologies; A
nd muscle stre
ngth e
nha
nci
ng devices, such as mecha
nical exoskeleto
ns. Of particular
note is the mecha
nical exoskeleto
n tech
nology, which has become a hot topic i
n i
nter
natio
nal research a
nd has a wide ra
nge of applicatio
ns, i
ncludi
ng whole body, upper limb, a
nd lower limb exoskeleto
ns. The applicatio
n sce
narios of lower limb exoskeleto
ns are diverse, i
ncludi
ng exoskeleto
ns for ha
ndli
ng, exoskeleto
ns for assisti
ng walki
ng, a
nd exoskeleto
ns for rehabilitatio
n trai
ni
ng. The aim of this research project is to desig
n a lower limb assisted exoskeleto
n robot, which closely fits the huma
n lower limbs a
nd is drive
n by the user's moveme
nt i
nte
ntio
n. The exoskeleto
n operates through a
n exter
nal power source, aimi
ng to assist the walki
ng fu
nctio
n of the huma
n lower limbs. This project provides a detailed a
nalysis a
nd desig
n of the overall architecture of the exoskeleto
n, a
nd co
nducts stress a
nalysis o
n each compo
ne
nt, while selecti
ng appropriate desig
n solutio
ns for movable compo
ne
nts. I
n additio
n, the device was digitally modeled usi
ng 3D modeli
ng software. Give
n the excelle
nt mecha
nical performa
nce of p
neumatic assisted walki
ng devices, this tech
nology has show
n e
normous pote
ntial for applicatio
n i
n various fields such as military, civilia
n, a
nd medical. Key words：Exoskeleto
n robot；P
neumatic assista
nce；Wearable；Structure desig
n；Three-dime
nsio
nal digital module