基于气动肌肉的外骨骼上肢助力系统研究

发布时间：2018-05-16 09:25

本文选题：气动肌肉 + 外骨骼　；参考：《浙江大学》2014年硕士论文

【摘要】：基于气动肌肉的外骨骼上肢助力系统是一种在军事行动和灾难救援、救护、辅助老年人和肌肉无力患者等需要增强人体机能的场合,提供辅助力的装置。气动肌肉作为一种新型气动执行元件,由于气动肌肉与生物肌肉具有很大的相似度,并且具有很高的功率质量比和功率体积比,提高了外骨骼的柔顺性,而且还有响应速度快、成本低廉、安全可靠等优点,将其作为外骨骼机器人的驱动器逐渐受到研究者的青睐。但国内外关于气动肌肉的外骨骼系统研究工作,主要着重于身体局部康复辅助装置的研究和开发。本文首次将气动肌肉用于外骨骼上肢助力系统,开展相关的研究。首先,本文在分析人体上肢运动机理的基础上,提出适合穿戴的基于气动肌肉的外骨骼上肢助力系统设计方案。主要包含肩关节和肘关节四个自由度的设计。执行元件为气动肌肉,传动方式采用钢丝线传递。接着,对该机构进行运动学动力学分析,并用ADAMS进行仿真分析。以此验证结构设计的正确性。此外,在外骨骼上肢机构设计的基础上,设计了满足关节位置控制和人机协调动作控制的控制系统。每根气动肌肉采用两个高速开关阀实现进气和排气的独立控制。在此基础上,建立了基于气动肌肉的外骨骼上肢助力系统的数学模型,并对系统特性进行了研究。利用Simulink工具软件对系该统进行抬起重物过程的仿真,验证了系统模型的正确。最后,搭建基于气动肌肉的外骨骼上肢助力实验平台,进行系统性能实验研究。用PID控制策略实现肘关节和肩关节的位置控制。并且对肘关节进行了初步的人机协同动作实验研究。实验结果证明,系统的阶跃响应性能较好,并且有一定的适应负载变化的能力,肘关节能实现人机协同动作。完成辅助人体抬起重物的过程,提高人体机能。
[Abstract]:Exoskeleton upper limb booster system based on pneumatic muscle is a kind of device which needs to enhance human body function in military operations and disaster rescue, aid to the elderly and patients with muscular weakness, and so on. As a new type of pneumatic actuator, pneumatic muscle has great similarity with biological muscle, and has a high power mass ratio and power volume ratio, which improves the flexibility of exoskeleton, and also has a fast response speed. Because of its advantages of low cost, safety and reliability, the exoskeleton robot is becoming more and more popular as an exoskeleton robot driver. However, the research work on exoskeleton system of pneumatic muscles at home and abroad mainly focuses on the research and development of local rehabilitation aids. In this paper, pneumatic muscle is first applied to the exoskeleton upper limb booster system. Firstly, on the basis of analyzing the movement mechanism of human upper limb, the paper proposes a design scheme of exoskeleton upper limb booster system, which is suitable for wearing and based on pneumatic muscle. It mainly includes the design of four degrees of freedom of shoulder joint and elbow joint. The actuator is pneumatic muscle and the transmission mode is wire transmission. Then, the kinematics and dynamics of the mechanism are analyzed and simulated by ADAMS. The correctness of the structure design is verified by this method. In addition, based on the design of exoskeleton upper limb mechanism, a control system for joint position control and man-machine coordinated action control is designed. Each pneumatic muscle uses two high-speed on-off valves to achieve independent air intake and exhaust control. On this basis, the mathematical model of exoskeleton upper limb booster system based on pneumatic muscle is established, and the characteristics of the system are studied. The Simulink software is used to simulate the lifting process of the system, which verifies the correctness of the system model. Finally, the experimental platform of exoskeleton upper limb booster based on pneumatic muscle was built, and the system performance was studied. The position control of elbow joint and shoulder joint is realized by PID control strategy. At the same time, a preliminary experimental study on the human-machine coordinated action of the elbow joint is carried out. The experimental results show that the step response performance of the system is good, and the system has the ability to adapt to the load change, and the elbow joint can realize the man-machine cooperative action. Complete the process of assisting the body to lift heavy objects and improve the function of human body.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TH138

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