中文摘要：

为实现截瘫患者独立行走,提出了一种仅实现髋关节和踝关节运动的四自由度机器人机构。根据人机工程学原理,对机构进行尺度综合后,采用D-H坐标法建立该机构运动学模型,得到助行机器人末端执行器的位置方程、速度方程和加速度方程,并在给定角度参数的条件下,采用Matlab软件进行运动学仿真验证分析结果。结果表明,该机器人能够满足截瘫患者独立行走的要求,且具有结构简单、成本低的特点,运动学分析的结果也为实现机器人行走控制提供了依据。

英文摘要：

In order to achieve paraplegics to walk independently,a four- DOF robot mechanism was proposed.The robot was only driven hip and ankle movement. After a comprehensive scale institutions which according to ergonomic principles,using the D- H coordinate method to establish kinematics model and calculate the position,velocity and acceleration equation of the walker robot＇ s end-effector. While given the angle parameters,using Matlab simulation software to verify the results. The results showed that the robot can meet the requirements of paraplegics to walk independently,and has a simple structure and low cost,the results of the kinematic analysis also provide a basis for controlling the robot to walk.