液压驱动下肢助力外骨骼机器人膝关节结构设计及试验

发布时间：2018-04-04 16:16

本文选题：机器人　切入点：设计　出处：《农业工程学报》2017年05期

【摘要】：液压驱动下肢助力外骨骼是一种典型的人机交互类机器人,在跟随人体行进的同时,可提高人的负重能力。为实现最优化的结构设计以降低对系统压强、液压缸尺寸的要求,通过仿生学分析人类正常步行时的步态数据,依据准拟人化设计准则,采用CAD设计软件、数值计算等方法,给出了液压驱动膝关节的设计过程,并通过MATLAB等仿真软件进行了验证。基于确定的模型参数,进行了结构设计及平台搭建,并进行了穿戴试验。仿真及试验结果表明,该方法设计的外骨骼膝关节可以满足步行及负重需求。在负重由10增加为20 kg时,即负重增加一倍时,膝关节的轨迹平均跟踪误差减小了0.05%,跟踪误差最大值增加了20.7%,但是相对于整个膝关节的活动范围,该误差仅占总活动范围的1.2%。该研究为优化液压驱动下肢助力外骨骼提供了参考方法,并可为直线执行器驱动外骨骼其他关节的优化设计提供参考。
[Abstract]:The lower limb assisted exoskeleton driven by hydraulic pressure is a typical human-computer interactive robot, which can improve the load bearing ability of human while following the human body.In order to realize the optimal structure design to reduce the requirement of system pressure and hydraulic cylinder size, the gait data of human walking were analyzed by bionics, according to the quasi-anthropomorphic design criterion, the CAD design software and numerical calculation were used.The design process of hydraulic driven knee joint is given and verified by MATLAB and other simulation software.Based on the determined model parameters, the structure design and platform construction are carried out, and the wearability test is carried out.The simulation and experimental results show that the proposed method can meet the requirements of walking and loading.When the load is increased from 10 to 20 kg, the average tracking error of the knee joint decreases by 0.05 and the maximum of the tracking error increases by 20.7, but compared with the whole range of knee motion, the error only accounts for 1.2 percent of the total range of motion.This study provides a reference method for optimizing the lower limb assisted exoskeleton driven by hydraulic actuators and a reference for the optimal design of other joints of the exoskeleton driven by linear actuators.
【作者单位】：浙江大学机械工程学院;
【基金】：国家自然科学基金创新研究群体资助项目(51521064) 浙江省自然科学基金资助项目(LY13E050001) 杭州市重大科技创新资助项目(20132111A04)
【分类号】：TP242

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