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基于微分几何齐次坐标方程建立了人机外骨骼运动学方程,根据下肢运动参数得到边界条件,并以此为依据利用Matlab软件绘制了踝关节运动轨迹;面对目前人体下肢外骨骼与人体下肢运动中存在干涉的问题,建立了空间异面直线最短距离的方程,并以此为条件依据外骨骼大腿杆到人体大腿杆最短距离大于人体大腿肌肉厚度的原则进行求解,得出了人机两腿杆对应关节距离的关系式,解决了下肢外骨骼人机干涉的问题;依据设计理论完成了面向载人航天应用的多关节低阻尼下肢外骨骼的结构设计。
Based on the homogeneous geometric equation of differential geometry, the kinematics equation of the human-machine exoskeleton was established, and the boundary conditions were obtained according to the parameters of the lower limbs. Based on this, the trajectory of ankle joint was drawn by Matlab software. The problem of interference exists in the movement, the equation of the shortest distance of the line in different directions is established, and the shortest distance between the thigh bar and the thigh bar of the human body is calculated on the basis of the principle that the shortest distance between the thigh bar and the human thigh is greater than the thickness of the human thigh. According to the design theory, the structure design of multi-joint low-damping lower extremity exoskeleton for the application of man-made spacecraft was completed.