关键词：外骨骼机器人；机构设计；五连杆模型；虚拟样机技术
摘 要：In order to significantly improve the load capacity of the soldiers and the maneuverability as carrying heavy loads,the mechanism design and simulation of the wearable exoskeleton robot are studied in this paper.Firstly,the mechanism design of the exoskeleton robot is completed and the three-dimensional model of the exoskeleton robot is established.Then,the five-link mathematical model of the exoskeleton robot is established,the dynamics analysis of which is proceed.Finally,through using virtual prototype technology,the walking simulation of the robot is carried out and the results provide a basis for the future work.