【摘要】 针对煤矿井下人工作业劳动强度大的状况，设计出一种用于辅助人体搬运和操作气动风镐等重型机具的外骨骼助力机器人。介绍了该外骨骼各部位的结构设计与功能；利用ADAMS软件对该外骨骼的人机穿戴模型进行了行走步态的运动学与动力学仿真，以验证其结构设计的合理性，重点对人体的脚底压力和背部受力进行分析，讨论外骨骼的助力效果和穿戴舒适性因素。进行了实物样机穿戴试验，对外骨骼的助力效果和穿戴舒适性做出了量化评估，验证了仿真结果的正确性。结果表明穿戴该外骨骼机器人相比纯人力作业可以降低下肢脚底19%的负重，并减轻背部肌肉60%的劳动强度，缓解肌肉疲劳。更多还原

【Abstract】 Aiming at the condition of high labor intensity of manual operation in coal mines,an exoskeleton assisted robot is designed to assist human body to carry and operate heavy pneumatic tools such as pneumatic picks. The structure design and function of each part of the exoskeleton are introduced. The ADAMS software was used to perform kinematics and dynamics simulations of the walking gait of the exoskeleton wear model to verify the rationality of its structural design. The pressure on the bottom of the feet and the force on the back are analyzed,and the assisting effect and wearing comfort factors of the exoskeleton are discussed;A wear test on the physical prototype is conducted,and the exoskeleton′s assisting effect and wearing comfort are quantitatively evaluated,and the correctness of the simulation results is also verified. The results show that wearing the exoskeleton robot can reduce the load of the lower limbs by 19% compared with pure manual work,and reduce the labor intensity of back muscles by 60% and relieve muscle fatigue.更多还原