水下助力机器人动力学分析

发布时间：2018-05-10 07:51

本文选题：动力学分析 + 外骨骼机器人　；参考：《西华大学》2016年硕士论文

【摘要】：外骨骼机器人作为助力装置,在军事、医疗康复、需要高强度作业的行业中都得以应用。但是外骨骼机器人在水下的应用相比陆地外骨骼而言还有较大差距,国内外还比较少有可参考的应用和文献。水下外骨骼机器人技术的难点在于,在水下复杂的环境中,机器人运动速度、水密度、入水深度、人机耦合的干涉等因素,使控制参数难以确定,难以实现对机器人的精确控制。本文旨在分析机器人水下应用时的动力学问题,对其进行理论模型建模和仿真模型建模,得出各关节输入力矩和输出的运动之间的关系,从而得出控制函数。本文动力学分析的最终目的是要得到助力机器人的膝关节和髋关节液压缸的驱动力、力矩的曲线和函数,可以采用逆向动力学求解方式求解。在求解的开始,我们需要得到助力机器人在水下的运动情况,作为动力学分析求解的已知项。本文首先从两个游泳实验中得到相关的水下运动数据,通过整理两组数据验证参数的正确性,将参数在Matlab中拟合成膝关节和髋关节的运动函数,作为机器人水下运动各关节的理想运动曲线;建立运动学理论模型,将其理想运动曲线作为已知的运动输入,采用转换矩阵的方法对机器人进行运动学理论建模;利用Adams建立仿真模型,以关节理想运动函数作为驱动函数,得到机器人各构件的运动特性;以机器人和穿戴者作为整体,对模型进行水动力分析,做出相关假设,得出在相应条件下机器人在水下受力的理论公式,利用CFD建立二维仿真模型,得出其水下受力的分布云图和阻力系数;分析对比牛顿欧拉方法,kane方法,拉格朗日函数方法对动力学方程的求解,最后采用拉格朗日方程对机器人建立动力学理论模型,在Adams中以理想运动曲线、分析所得的所有已知力作为输入,建立动力学仿真模型,得出目标函数。
[Abstract]:Exoskeleton robots, as booster devices, are used in military, medical and rehabilitation industries that require high-intensity operations. However, the underwater application of exoskeleton still has a big gap compared with the land exoskeleton, and there are few reference applications and literatures at home and abroad. The difficult point of underwater exoskeleton robot technology is that in the complex underwater environment, the control parameters are difficult to determine because of the factors such as the velocity of motion, water density, depth of water entering, and the interference of man-machine coupling, etc. It is difficult to control the robot accurately. The purpose of this paper is to analyze the dynamic problems in underwater application of the robot, to model the robot by theoretical model and simulation model, and to obtain the relationship between the input moment and the output motion of each joint, and then to obtain the control function. The ultimate purpose of dynamics analysis in this paper is to obtain the driving force, torque curve and function of the hydraulic cylinder of the knee joint and hip joint of the robot, which can be solved by reverse dynamics. At the beginning of the solution, we need to obtain the motion of the booster robot underwater as a known term in the dynamic analysis solution. In this paper, the relevant underwater motion data are obtained from two swimming experiments. By collating the two groups of data to verify the correctness of the parameters, the parameters are synthesized into the motion functions of the knee joint and the hip joint in Matlab. As the ideal motion curve of each joint of underwater motion of the robot, the kinematics theory model is established, the ideal motion curve is taken as the known motion input, and the kinematics theory model of the robot is established by the method of transformation matrix. The simulation model is established by Adams, and the motion characteristics of each component of the robot are obtained by using the ideal motion function of the joint as the driving function, and the hydrodynamic analysis of the model is made by the robot and the wearer as a whole, and the relevant assumptions are made. The theoretical formula of the underwater force of the robot under the corresponding conditions is obtained, the two-dimensional simulation model is established by using CFD, the distribution cloud diagram and drag coefficient of the underwater force are obtained, and the Newtonian Euler method is analyzed and compared with the Kane method. The Lagrange function method is used to solve the dynamic equation. At last, the Lagrange equation is used to establish the dynamic model of the robot. The ideal motion curve is used in Adams, and all known forces are analyzed as input. The dynamic simulation model is established and the objective function is obtained.
【学位授予单位】：西华大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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