蹲起时助力外骨骼驱动及人机耦合作用驱动补偿

发布时间：2018-06-16 20:03

  本文选题：蹲起 + 助力外骨骼　； 参考：《机器人》2017年04期

【摘要】：针对由于关节驱动特性不明而造成助力外骨骼蹲起不顺畅的问题,为增强人机交互性及助力外骨骼蹲起可靠性,对蹲起时助力外骨骼的关节驱动及人机耦合作用下的关节驱动补偿进行了研究.通过人体数据采集实验及非线性数据拟合,得到各关节运动学方程.建立了蹲起时的人机耦合动力学模型,研究了关节驱动特征,发现膝关节的驱动特征及其波动性远大于踝关节和髋关节;膝关节驱动力矩与角加速度耦合性强;只在蹲起前半段,系统重心迁移对膝关节驱动有较大影响.根据关节驱动特征的研究结果,膝关节采用双作用线性液压缸进行驱动,与此同时人机耦合作用力可以补偿踝关节部分驱动力矩及髋关节全部驱动力矩.
[Abstract]:In order to enhance the human-computer interaction and the reliability of booster exoskeleton squat, the problem that the driving characteristic of the joint is unclear causes the squatting up of the booster exoskeleton is not smooth. In this paper, the joint drive and joint drive compensation of squatting assisted exoskeleton are studied. Through human data acquisition experiment and nonlinear data fitting, the kinematics equations of each joint are obtained. The man-machine coupling dynamic model of squatting is established and the characteristics of joint drive are studied. It is found that the driving characteristic and its fluctuation of knee joint are much greater than that of ankle and hip joint, and the coupling of driving moment and angular acceleration of knee joint is strong. Only in the first half of squatting, the shift of the system center of gravity has a great influence on the knee joint drive. According to the research results of the joint driving characteristics, the knee joint is driven by a double action linear hydraulic cylinder. At the same time, the man-machine coupling force can compensate the partial driving torque of the ankle joint and all the driving torque of the hip joint.
【作者单位】： 西南交通大学机械工程学院;
【基金】：国家自然科学基金(51175442) 教育部装备预先研究项目(62501040308)
【分类号】：R318.01
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本文编号：2027939