下肢外骨骼机器人运动失稳机理及控制策略的研究

发布时间：2018-05-05 02:20

本文选题：下肢外骨骼 + ZMP　；参考：《新疆大学》2017年硕士论文

【摘要】：近年来,随着经济作物的不断种植和增长,若能研究出应用于农业领域的田间管理与采收的下肢助力外骨骼机器人,则能大大减轻劳动强度,提高劳动效率。下肢外骨骼机器人是一种可穿戴式的人机一体化机器人,被穿戴于人身上后,“如影随形”的跟踪人的行走来完成人机协调,并能提供助力来部分取代身体承载负荷。从而达到了响应人机协作的目的。在军事、农业、工业、商业、康复、护理等领域有很广阔的发展前景。由于步行过程不理想或步行不协调易发生外界扰动干扰而发生失稳现象,为此,基于步态失稳现象对其下肢外骨骼系统进行了分析与研究。外骨骼模型的建立与分析;本文设计了一个具有十二自由度的七连杆下肢外骨骼机构,具体针对此机构的髋关节、膝关节、踝关节及足部等主要部位进行了详尽的设计说明。该设计机构可以使人体穿戴后能正常的步态行走运动,在行走过程中辅助行走并提供助力,进而对该机构进行动力学分析。动态稳定性及运动过程中受外界扰动参数变化时对其动态稳定性的影响分析;首先,基于ZMP理论判据提出了改进的动态稳定性评估方法,并对下肢外骨骼系统的动态稳定性在矢状面内和冠状面内进行分析。其次,对影响下肢外骨骼系统动态稳定性的扰动参数进行了研究,并进行了扰动参数摆动角及载重量的变化情况对下肢外骨骼系统步态稳定性的影响进行了仿真分析。动态稳定性控制策略分析;人机机构步态过程中,当有外界力的干扰时会使人机系统出现失稳现象,为恢复稳定需要采取相应的主动控制策略,以适应保持稳定状态的要求。对下肢外骨骼系统提出了基于ZMP误差校正的步行控制策略,以保证外骨骼穿戴者与外骨骼的步态最大程度的协调运行。对基于ZMP步态实时控制其中包括了扩大支撑多边形,改变穿戴者上身姿态及液压驱动力补偿的控制主动补偿控制,并进行了模拟仿真,实验验证了控制策略的可行性。
[Abstract]:In recent years, with the continuous cultivation and growth of cash crops, if we can study the lower limb assisted exoskeleton robot which can be applied in the field of agriculture, it can greatly reduce the labor intensity and improve the labor efficiency. Lower limb exoskeleton robot is a wearable man-machine integrated robot. After being worn on the human body, the robot can follow the human walking to complete the man-machine coordination, and can provide help to partly replace the body load. In order to achieve the purpose of responding to the man-machine cooperation. In the military, agriculture, industry, commerce, rehabilitation, nursing and other fields have a very broad development prospects. Because the walking process is not ideal or the uncoordinated walking is prone to the disturbance of external disturbance, the instability of the lower limb exoskeleton system is analyzed and studied based on the gait instability phenomenon. The exoskeleton model is established and analyzed. A seven-link exoskeleton mechanism with 12 degrees of freedom is designed and explained in detail for the hip joint, knee joint, ankle joint, foot and other main parts of the exoskeleton mechanism. The design mechanism can make the human body walk with normal gait, assist walking and provide power during walking, and then analyze the dynamics of the mechanism. Dynamic stability and dynamic stability are analyzed when the external disturbance parameters change. Firstly, an improved dynamic stability evaluation method based on ZMP theory is proposed. The dynamic stability of exoskeleton system was analyzed in sagittal plane and coronal plane. Secondly, the disturbance parameters which affect the dynamic stability of exoskeleton system of lower extremity are studied, and the effects of swing angle and load of disturbance parameters on the gait stability of exoskeleton system of lower extremity are simulated and analyzed. Dynamic stability control strategy analysis, when the human machine mechanism gait process, when there is external force interference, the man-machine system will appear instability phenomenon, in order to restore stability need to take the corresponding active control strategy to meet the requirements of maintaining stable state. A walking control strategy based on ZMP error correction is proposed for exoskeleton system in order to ensure the maximal coordination between exoskeleton wearer and exoskeleton gait. The real-time control of gait based on ZMP includes extending support polygon changing the upper posture of the wearer and compensating the hydraulic driving force. The simulation results show that the control strategy is feasible.
【学位授予单位】：新疆大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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