目 录摘 要................................................................1ABSTRACT..............................................................21 绪论..................................................................31.1 课题背景............................................................31.2 课题研究的目的及意义................................................31.3 可穿戴辅助机械腿的国内外研究现状....................................41.4 本课题的主要内容....................................................81.5 本课题的研究方法....................................................82 可穿戴辅助机械腿传动方案设计..........................................92.1 传动方案的选择.......................................................92.2 可穿戴辅助机械腿关节转矩的计算.....................................102.2.1 关节一...........................................................102.2.2 关节二............................................................112.2.3 关节三............................................................112.2.4 关节四............................................................112.2.5 关节五............................................................112.2.6 关节六............................................................112.3 减速器选型..........................................................122.4 电机选型............................................................122.5 电机发热校核........................................................132.6 本章小结............................................................133 可穿戴辅助机械腿的结构设计...........................................143.1 人体腿部生物原型介绍...............................................143.1.1 人体腿部运动原理..................................................143.1.2 人体腿部尺寸结构..................................................153.1.3 人体下肢主要关节的运动特性.......................................163.2 可穿戴辅助机械腿模型的建立.................................
