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中文摘要：
研究了穿戴式辅助正骨并联机器人生物机电系统的建模方法．首先建立了人体腿部组织的有限元模型，并获得了断骨相对位姿到维持该相对位姿不变所需要的力的映射．然后建立了并联机器人的静力学模型，得到平台载荷到维持并联机器人两个平台相对位姿小变所需要的支链驱动力的映射．综合人体腿部有限元模型和机器人静力学模型，并进行适当的坐标变换，建立了生物机电系统模型．最后通过仿真实验，得到了相应的仿真曲线，并进行了相应的分析．
英文摘要：
The method to build the bio-electromechanical model of wearable assistant bone-setting parallel robot system is studied. Firstly, the finite element model of human leg structure is established and the map from the relative pose of the broken bones to the force maintaining the relative pose unchanged is obtained.Then the static model of the parallel robot is established and the map from the load of the platform to the driving force of the branched chains maintaining the relative pose of the two platforms of the parallel robot unchanged is also obtained. The finite element model of human leg and the statics model of the robot are integrated, the appropriate coordinate transformation is made, and the bio-electromechanical model is built. Finally, simulation curves are obtained through simulation experiment, and the corresponding analysis is given.
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