可穿戴膝关节外骨骼结构设计与运动分析
发布时间：2018-08-15 14:45
【摘要】：机械外骨骼是模仿生物界外骨骼研发的一种新型机电装置。设计了一款可穿戴式柔性膝关节外骨骼,采用人体下肢5杆简化模型进行运动学和动力学分析。通过Matlab/Simulink仿真分析,所得的膝关节角度变化曲线与CGA标准曲线基本一致,验证了数学模型的正确性;通过ADAMS动态仿真,模型能正常行走,验证了驱动函数的正确性,所得的膝关节力矩变化曲线,为后面的控制做准备。研制了相关样机,通过穿外骨骼和不穿外骨骼进行对比试验,观察膝关节角度的变化情况,验证该机构的合理性。
[Abstract]:Mechanical exoskeleton is a new kind of electromechanical device which imitates the exoskeleton of biology. A wearable flexible knee exoskeleton was designed. Through Matlab/Simulink simulation analysis, the angle change curve of knee joint is basically consistent with CGA standard curve, which verifies the correctness of mathematical model, and the model can walk normally through ADAMS dynamic simulation, which verifies the correctness of driving function. The obtained curve of knee joint torque changes to prepare for the rear control. The relative prototype was developed, and the rationality of the mechanism was verified by observing the change of knee joint angle by comparing the exoskeleton with that without exoskeleton.
【作者单位】： 杭州电子科技大学机械电子工程研究所;
【基金】：工业控制技术国家重点实验室开放课题(ICT1600283) 浙江省大学生科技创新活动计划(新苗人才计划)(2015R407003)
【分类号】：TP242
，
本文编号：2184524
[Abstract]:Mechanical exoskeleton is a new kind of electromechanical device which imitates the exoskeleton of biology. A wearable flexible knee exoskeleton was designed. Through Matlab/Simulink simulation analysis, the angle change curve of knee joint is basically consistent with CGA standard curve, which verifies the correctness of mathematical model, and the model can walk normally through ADAMS dynamic simulation, which verifies the correctness of driving function. The obtained curve of knee joint torque changes to prepare for the rear control. The relative prototype was developed, and the rationality of the mechanism was verified by observing the change of knee joint angle by comparing the exoskeleton with that without exoskeleton.
【作者单位】： 杭州电子科技大学机械电子工程研究所;
【基金】：工业控制技术国家重点实验室开放课题(ICT1600283) 浙江省大学生科技创新活动计划(新苗人才计划)(2015R407003)
【分类号】：TP242
，
本文编号：2184524
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