一种外骨骼机器人的结构设计
The Structural Design of an Exoskeleton Robot

随着社会的发展，独居老人和女性越来越多，在很多情况下这类人群搬运东西很不方便，因此急需要一套设备协助这类人群进行一些搬运工作。为此我们针对人体骨骼进行分析这便是外骨骼机器人，设计了一套基于省力理念的外骨骼机器人。目前，国内外的外骨骼机器人价格昂贵，结构比较复杂，对于我国的一些老人和一些女性以及小孩并不适用。因此本文设计的是一款适用于力气较小的普通人及一些单身贵族的外骨骼机器人，此外骨骼机器人结构简单，造价较低。本文对目前国内外的外骨骼机器人设计领域和运用场合及其各种外骨骼机器人优缺点、发展现状进行了全面研究和比较。因此对外骨骼机器人进行了系统的总体结构设计、运动学的分析计算、传动结构的设计与计算，最后完成PLC程序的编写进行自动控制，来实现外骨骼机器人的设计要求。
With the development of society, there are more and more elderly people and women living alone, and in many cases, it is very inconvenient for such people to carry things, so a set of equipment is urgently needed to assist such people in carrying out some carrying work. To this end, we analyze the human bone, which is the exoskeleton robot, and design a set of exoskeleton robot based on the concept of labor-saving. At present, exoskeleton robots at home and abroad are expensive and com-plex in structure, which are not suitable for some elderly people and some women and children in China. Therefore, the design of this article is an exoskeleton robot suitable for ordinary people with less strength and some single nobles; in addition, the skeleton robot has a simple structure and low cost. This paper comprehensively studies and compares the current design fields and application occasions of exoskeleton robots at home and abroad, as well as the advantages, disadvantages and development status of various exoskeleton robots. Therefore, the overall structure design of the system, the analysis and calculation of kinematics, the design and calculation of the transmission structure were carried out for the exoskeleton robot, and finally the PLC program was written for automatic control to achieve the design requirements of the exoskeleton robot.