全向式助行拐杖机器人研究
发布时间：2018-11-04 13:29
【摘要】：由于老龄化的社会现状,失能半失能老人迅速增加。如何用现代化的方式解决失能半失能老人的护理问题是康复助行机器人领域研究人员一直在从事的工作。由于拐杖机器人,使用起来灵活方便,不会限制人体活动,更适合室内环境。所以本文设计开发了拐杖助行机器人。目前,拐杖式助行机器人在执行助行任务时,支撑装置(拐杖)和导向装置(移动平台)之间一直保持垂直状态。这种形式造成支撑装置并不能提供足够的,适当方向的支撑力,使用习惯和正常的拄拐习惯完全不同,所以多数只能起到引导作用,为了解决这些问题,做了以下研究。首先,通过设计了一款全向可控的关节,取代拐杖助行机器人现有的刚性连接结构,使拐杖式助行机器人在执行助行功能时,拐杖受人体控制在平台上摆动。其次,通过设计拐杖状态检测系统,研究人使用普通拐杖时,拐杖的受力和运动情况。通过拐杖受力和运动了解人的拄拐习惯。并建立普通拐杖受力和运动间的动力学模型。再次,为了让人使用拐杖机器人时,人和拐杖间的相互作用力和使用普通拐杖一样。在拐杖机器人的控制上使用了导纳控制,利用导纳模型将速度转化为接触力。这样就可以通过控制平台速度调节拐杖和人之间的相互作用力。最后,按照需要设计了拐杖机器人的电气系统,电气系统分为硬件部分和软件部分。在设计的电气系统上进行相关实验,实验验证了研究内容的有效性。
[Abstract]:Due to the current situation of aging society, the disabled and semi-disabled elderly increase rapidly. How to solve the nursing problem of disabled and semi-disabled elderly in a modern way is the work of researchers in the field of rehabilitation robot. As crutches robot, flexible and convenient to use, will not restrict human activities, more suitable for indoor environment. Therefore, this paper designs and develops a walking robot with crutches. At present, the walking robot maintains a vertical state between the supporting device (crutch) and the guiding device (mobile platform) when performing the task. This form of support does not provide enough support in the proper direction, and the usage habits are completely different from the normal crutches, so most of them can only play a leading role. In order to solve these problems, the following research has been done. Firstly, an omnidirectional controllable joint is designed to replace the existing rigid connection structure of the crutch-assisted robot, which makes the crutch-type walking robot swing on the platform under the control of human body. Secondly, the force and motion of crutches are studied by designing crutches state detection system. Understand the habit of crutches through force and movement of crutches. The dynamic model between force and motion of common crutches is established. Thirdly, in order to make people use crutches, the interaction between human and cane is the same as that of ordinary crutches. Admittance control is used in the control of crutches robot, and the velocity is transformed into contact force by admittance model. In this way, the interaction between crutches and human beings can be adjusted by controlling the speed of the platform. Finally, the electric system of crutches robot is designed according to the need. The electrical system is divided into hardware part and software part. Experiments were carried out on the designed electrical system to verify the effectiveness of the research.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2309959
[Abstract]:Due to the current situation of aging society, the disabled and semi-disabled elderly increase rapidly. How to solve the nursing problem of disabled and semi-disabled elderly in a modern way is the work of researchers in the field of rehabilitation robot. As crutches robot, flexible and convenient to use, will not restrict human activities, more suitable for indoor environment. Therefore, this paper designs and develops a walking robot with crutches. At present, the walking robot maintains a vertical state between the supporting device (crutch) and the guiding device (mobile platform) when performing the task. This form of support does not provide enough support in the proper direction, and the usage habits are completely different from the normal crutches, so most of them can only play a leading role. In order to solve these problems, the following research has been done. Firstly, an omnidirectional controllable joint is designed to replace the existing rigid connection structure of the crutch-assisted robot, which makes the crutch-type walking robot swing on the platform under the control of human body. Secondly, the force and motion of crutches are studied by designing crutches state detection system. Understand the habit of crutches through force and movement of crutches. The dynamic model between force and motion of common crutches is established. Thirdly, in order to make people use crutches, the interaction between human and cane is the same as that of ordinary crutches. Admittance control is used in the control of crutches robot, and the velocity is transformed into contact force by admittance model. In this way, the interaction between crutches and human beings can be adjusted by controlling the speed of the platform. Finally, the electric system of crutches robot is designed according to the need. The electrical system is divided into hardware part and software part. Experiments were carried out on the designed electrical system to verify the effectiveness of the research.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
【参考文献】
相关期刊论文 前1条
1 刘慧;沈军;;住院老年痴呆患者跌倒发生情况及危险因素分析[J];中国老年学杂志;2011年23期
，本文编号：2309959
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