中文摘要：

设计了一种可穿戴型下肢外骨骼机器人并简化为5连杆模型,根据人体下肢步态特点,对下肢外骨骼在单足和双足支撑期分别建立动力学方程,并应用ADAMS软件进行动力学仿真,通过几何关系,求出外骨骼的各关节的力矩和关节转角函数关系式,得到相关关节处的液压缸负载力计算模型。通过分析比例电磁阀的流量方程、液压缸的连续流量方程及其力平衡方程,建立外骨骼机器人的液压驱动系统数学模型。设计了基于位置控制的液压伺服PID控制器,通过MATLAB软件对外骨骼行走步态进行轨迹跟随仿真验证,结果表明：液压伺服系统控制器控制输出的信号能够满足下肢外骨骼机器人步态轨迹的要求。

英文摘要：

A wearable lower limb exoskeleton was designed and simplified as the 5-1ink model. According to the characteristics of human lower limb gait, the dynamic equation of the lower limb exoskeleton was es- tablished in the stage of single-leg supporting phase and bipedal stance phase, and the dynamic simulation was carried out by ADAMS software, torque and joint angle function between each joint exoskeleton were obtained by geometric relations, and the joint related hydraulic cylinder load calculation model was gained. The mathematical model of the hydraulic drive system exoskeleton was established by analyzing the flow equation of proportional electromagnetic valve, the continuous flow equation and force balance e- quation of the hydraulic cylinder. The hydraulic servo PID controller based on position control was de- signed and the gait trajectory of the exoskeleton was simulated and verified by using MATLAB software. The results showed that the gait trajectory of the lower limb exoskeleton could be satisfied by the output signal of the hydraulic servo system controller.