下肢外骨骼机器人随动控制及虚拟仿真研究

发布时间：2017-12-28 02:23

本文关键词：下肢外骨骼机器人随动控制及虚拟仿真研究　出处：《新疆大学》2017年硕士论文　论文类型：学位论文

【摘要】：下肢助力外骨骼是一种绑缚在人身体上的机械装置,可以实现功能优化。在运动过程中,它能有效的识别人的意图,协调人体动作,继而增强人的运动能力,辅助人体完成运动。外骨骼机器人集合了多个领域的不同技术,它设计的目的就是将人类的智能与机器人的动力进行有机的结合,弥补人类在运动能力上的不足,使人类具备机器的力量和耐力,从而实现一定的功能。本文主要围绕助力外骨骼的关键技术:几何适应、运动协调、智能控制等进行了初步研究。具体内容如下:按照外骨骼协同性的要求,对人体下肢关节结构以及运动特点进行分析,并运用仿真手段,模拟人体运动时下肢各关节的运动状态,设计适应人体部位尺寸,符合人体自由度分布的外骨骼装置。为了保证外骨骼运动功能的实现,满足人体运动学的要求,对外骨骼进行运动学分析,采用D-H参数法建模,求解运动学正问题,选用数值法进行逆运动学分析,并运用ADAMS软件仿真验证理论模型的合理性,为后期下肢外骨骼的优化设计提供理论参考。针对助力外骨骼的随动控制,对不同控制方式下的阻抗控制的工作原理进行了介绍,对人-机联合模型进行动力学分析,基于外骨骼阻抗控制的设计,构建单关节摆动模型,在此基础上运用MATLAB仿真软件对助力外骨骼单关节进行了阻抗控制跟随效果仿真,分析阻抗参数对跟随性能的影响。在上述研究的基础上,通过约束设置,将外骨骼模型与人体模型进行结合,构建人-机联合仿真模型,仿真模拟行走运动,将获得的外骨骼关节角度与人体的关节角度进行了对比,分析了外骨骼的协同性,同时进行人-机联合负重仿真,将获得的人体关节力矩与人体负重时的下肢关节力矩进行对比,验证外骨骼的助力特性。
[Abstract]:The lower extremities exoskeleton is a mechanical device tied to the human body, which can be used to optimize the function. In the process of movement, it can effectively identify the person's intention, coordinate the movement of the human body, then increase the ability of the people to exercise, and assist the human body to complete the movement. The exoskeleton robot integrates different technical fields. It is designed to power the robot intelligence and human organically, supplement human athletic ability, make the human machine have strength and endurance, so as to achieve a certain function. This paper mainly focuses on the key techniques of the exoskeleton: Geometric adaptation, movement coordination, intelligent control and so on. The specific contents are as follows: according to the requirements of the exoskeleton concertedness, the joint structure and movement characteristics of the lower limb of the human body are analyzed, and the use of simulation, the motion state of lower extremity joints to simulate the human body motion, is designed to meet the human body size, the exoskeleton device body consistent with the distribution of degree of freedom. In order to ensure the realization of the movement function of the exoskeleton, meet the requirements of the human body kinematics, exoskeleton kinematics analysis was carried out using D-H method, parameter modeling, kinematics problem solving, the numerical method for inverse kinematics analysis, the rationality and the use of ADAMS software simulation to verify the theoretical model, to provide a theoretical reference for the optimization design of the late lower extremity exoskeleton. For servo control of exoskeleton, the working principle of different impedance control mode control are introduced, based on the kinetic analysis of human - machine model, the design of the exoskeleton based on the impedance control, construction of single joint swing model, based on the use of MATLAB simulation software for single joint exoskeleton by impedance control to follow the effect of simulation, analysis of the influence of impedance parameters on the following performance. On the basis of the above research, the constraint set, the exoskeleton model and human model are combined to construct human machine combined simulation model, simulation of movement, compares the joint angle of the exoskeleton joint angle and body of the analysis of the coordination of the exoskeleton, and human machine joint load simulation, compare the lower limb joint torque obtained human joint torque and body load when the power property verification exoskeleton.
【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

【参考文献】