可穿戴式助力型外骨骼特征动作力学特征研究

发布时间：2018-03-21 09:55

本文选题：人体外骨骼　切入点：动力学分析　出处：《西南交通大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着科学技术的日益进步,人类对于自身运动性能的要求也越来越高,而外骨骼机器人便是能够满足这一要求的产物。外骨骼能够很好的解决复杂地形或者工作环境下单个人员负载增加的需求和人体自身肌能之间的矛盾。可穿戴式外骨骼的思想只要是受到动物界具有保护外壳的动物的启发。外骨骼在许多领域都有着很好的应用前景,如在军事领域可在复杂地形下进行单兵作战,在仓库中可以辅助公认进行货物搬运,在医疗领域可以辅助下肢康复等。随着多年的研究,国内外已经研究出了一批可以进行实验的外骨骼样机,但是外骨骼并没有进行大规模的推广,是因为动力系统、动力系统的续航和控制系统方面的研究还需要加强。论文以西南交通大学研制的第三代可穿戴式外骨骼实验样机为研究对象,选取双膝蹲-起立动作为特征动作,用牛顿-欧拉法对外骨骼及人体的运动进行动力学分析和仿真,具体研究如下:(1)根据人体运动学对人体运动进行分析,选取双膝蹲-起立动作为特征动作,并对特征动作进行运动分析。对特征动作建立动力学模型,选取特征数据作为研究对象,对动力学模型进行力学特征分析与计算。在MATLAB软件中将计算过程求解,并对各个关节处不同负重下所需驱动力矩进行仿真,最后得到了各个关节处力矩变化特征曲线。(2)根据控制变量法,将影响外骨骼力学特征的因素进行分析,具体设计了外骨骼实验方案,对外骨骼进行单机版和人机偕行实验,其中单机版又分为静态实验和动态实验。将实验结果中选取具有代表性的膝关节处力的实验数据,在MATLAB中进行曲线拟合,与以上理论计算的仿真结果进行对比,验证实验的可靠性。最后,对数据拟合过程中误差进行分析。(3)以人体穿戴外骨骼过程中背负的重量(倾覆力)和膝关节处驱动功率为研究对象,将实验数据中有关的数据分类整理,在MATLAB软件中编程计算,并用最小二乘法对原始曲线进行拟合。最后得到了若干组不同工况下倾覆力和膝关节功率曲线,并对曲线进行分析。
[Abstract]:With the development of science and technology, the human beings have higher and higher requirements for their own sports performance. Exoskeleton robot is the product that can meet this requirement. Exoskeleton can solve the contradiction between complex terrain or the need of individual person's load increase and human body's muscle function. The idea of exoskeleton is inspired by animals with protective shells in the animal world. Exoskeletons have a good future in many fields. Such as in the military field can be carried out under complex terrain, in the warehouse can assist in cargo handling, in the medical field can assist in the rehabilitation of lower limbs, etc. Over the years of research, At home and abroad, a number of prototypes of exoskeletons that can be experimented with have been developed, but exoskeletons have not been popularized on a large scale because of power systems. In this paper, the third generation wearable exoskeleton experimental prototype developed by Southwest Jiaotong University is taken as the research object, and the knee-squat standing motion is selected as the characteristic action. The motion of exoskeleton and human body is analyzed and simulated by Newton-Euler method. The specific research is as follows: 1) according to the kinematics of human body, the motion of human body is analyzed, and the squatting and standing motion of both knees is selected as the characteristic action. The dynamic model of feature action is established, and the characteristic data is selected as the object of study. The mechanical feature analysis and calculation of the dynamic model are carried out. The calculation process is solved in MATLAB software. At last, the characteristic curve of torque change in each joint is obtained. According to the control variable method, the factors affecting the mechanical characteristics of exoskeleton are analyzed. The exoskeleton experiment scheme is designed in detail. The external skeleton carries out single machine version and man-machine accompanying experiment, in which the single machine version is divided into static experiment and dynamic experiment. The representative experimental data of knee joint force are selected from the experimental results. The curve fitting is carried out in MATLAB, and compared with the simulation results of the theoretical calculation above, the reliability of the experiment is verified. The error in data fitting is analyzed. (3) taking the weight (overturning force) and the driving power at the knee joint of the human body in the course of wearing exoskeleton as the research object, the relevant data in the experimental data are classified and sorted, and the program calculation is carried out in the MATLAB software. The original curve was fitted with the least square method. Finally, several groups of capsizing force and knee joint power curves under different working conditions were obtained, and the curves were analyzed.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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