中文摘要：

利用拉格朗日方程及ADMS仿真软件对可穿戴型助力机器人进行了动力学分析与仿真。助力外骨骼是一个复杂的动力系统，由多个关节和多个连杆组成，具有多个输入和多个输出，助力机器人动力学是分析其运动和作用力之间的关系，仿真结果可用于选择适当尺寸的传动机构、电机转矩及是否需要重新设计机械结构。

英文摘要：

This paper provides the dynamics anlysis and simulation of the wearable power assistance robot based on Lagrange equation and ADMS. Power assistance exoskeleton is a complicated dynamical system composed of many joints and links, and it is a MIMO. Power assistance robot dynamics analyzes the relationship between its movement-and force , and the results of simulation can be used to select proper size of transmission machine, motor torque and decide whether the structure needs to redesign.