下肢外骨骼机器人防跌倒步态控制研究

发布时间：2018-04-02 19:11

本文选题：可穿戴式　切入点：下肢外骨骼　出处：《安徽工程大学》2017年硕士论文

【摘要】：为了增强人体体能,帮助下肢伤残患者正常行走和康复训练,下肢外骨骼机器人受到了国内外科研机构的重视。本文在安徽省科技攻关计划项目"可穿戴型下肢助力机器人研究(1604a0902125)"的资助下,针对下肢外骨骼机器人机械构型和步态稳定性两个关键技术问题开展了研究。在下肢外骨骼机器人的构型设计过程中,充分借鉴了人体运动学和人体解剖学科研成果,详细地分析了人体行走过程的下肢运动特征。基于功能相似,结构简单,质量轻便的原则,构建了下肢外骨骼机器人的传动方案。根据我国成年人的体型,确定了下肢外骨骼机器人的主要尺寸。研制出一套新型的下肢外骨骼机器人,并加工出实验样机。针对下肢外骨骼机器人的步态稳定性问题,本文采用坐标齐次变换方法,建立了下肢外骨骼机器人的运动模型,开展了正、逆运动学分析。基于拉格朗日定理对人体步行的双足支撑相和单足支撑相进行动力学分析。推导了零力矩点(ZMP)的计算公式,并基于零力矩点的稳定裕度和三次样条插值的原理,规划下肢外骨骼机器人行走步态。利用ADAMS软件建立了虚拟样机,并给定具体参数。采用仿真技术绘制了各个驱动关节的运动轨迹模拟样机的行走步态,验证了机构设计的合理性和步态规划的可行性。为了验证下肢外骨骼机器人步行稳定性的理论结果,搭建步行控制实验平台,通过步态控制实验,采集行走过程中的相关数据,结合采集的实验数据计算零力矩点(ZMP)的实际位置,发现实验结果与期望步行稳定区域相匹配,从而有力地证明了基于ZMP步态控制方法的可行性与合理性。
[Abstract]:In order to enhance the physical ability of the lower extremity and help the disabled patients to walk and rehabilitate normally, exoskeleton robot of the lower extremity has been paid more attention by the research institutions at home and abroad.In this paper, with the aid of Anhui Science and Technology Project "Research on wearable lower extremity booster robot 1604a0902125", the mechanical configuration and gait stability of exoskeleton robot of lower extremity are studied.In the process of configuration design of exoskeleton robot in lower extremity, the kinematics and anatomical research results of human body are fully used for reference, and the characteristics of lower extremity motion during human walking are analyzed in detail.Based on the principle of similar function, simple structure and light weight, the transmission scheme of exoskeleton robot is constructed.The main dimensions of exoskeleton robot of lower extremity are determined according to the size of adults in our country.A new exoskeleton robot was developed and the experimental prototype was manufactured.Aiming at the gait stability of exoskeleton robot in lower extremity, the kinematic model of exoskeleton robot in lower extremity is established by using coordinate homogeneous transformation method, and the forward and inverse kinematics analysis is carried out.Based on Lagrange theorem, the dynamic analysis of bipedal bracing phase and one-legged bracing phase of human walking is carried out.Based on the stability margin of zero moment point and the principle of cubic spline interpolation, the walking gait of exoskeleton robot is planned.The virtual prototype is built by using ADAMS software, and the specific parameters are given.The simulation technology is used to draw the movement trajectory of each driving joint to simulate the walking gait of the prototype, which verifies the rationality of the mechanism design and the feasibility of gait planning.In order to verify the theoretical results of walking stability of exoskeleton robot in lower limbs, a walking control experimental platform was built, and the relevant data of walking process were collected through gait control experiment.In combination with the experimental data, the actual position of zero torque point is calculated, and it is found that the experimental results match the expected walking stable region, thus proving the feasibility and rationality of the gait control method based on ZMP.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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