辅助站立机构的动力学建模与仿真

o meet the user\'s standing needs, a three degree of freedom auxiliary standing mechanism is introduced, which can assist the human body to complete the standing process by bending their knees and stooping. Based on the analysis of the structural characteristics of the assisted standing mechanism, a human-machine constraint relationship is constructed based on the motion characteristics of the assisted standing process. Through the analysis of the human-machine motion characteristics during the assisted standing process, the human-machine system model is simplified, and a simplified model of the human-machine system is established. A dynamic model of the assisted standing process is established using the Lagrange method, The mapping relationship between the driving force of the auxiliary standing mechanism and the angle of the human joint is constructed. Finally, the validity of the dynamic model is verified by numerical simulation and virtual prototype simulation.